Exomars Mission Achievements

NASA Astrophysics Data System (ADS)

Lecomte, J.; Juillet, J. J.

2016-12-01

ExoMars is the first step of the European Space Agency's Aurora Exploration Programme. Comprising two missions, the first one launched in 2016 and the second one to be launched in 2020, ExoMars is a program developed in a broad ESA and Roscosmos co-operation, with significant contribution from NASA that addresses the scientific question of whether life ever existed on Mars and demonstrate key technologies for entry, descent, landing, drilling and roving on the Martian surface . Thales Alenia Space is the overall prime contractor of the Exomars program leading a large industrial team The Spacecraft Composite (SCC), consisting of a Trace Gas Orbiter (TGO) and an EDL (Entry Descend and Landing) Demonstrator Module (EDM) named Schiaparelli, has been launched on 14 March 2016 from the Baikonur Cosmodrome by a Proton Launcher. The two modules will separate on 16 October 2016 after a 7 months cruise. The TGO will search for evidence of methane and other atmospheric gases that could be signatures of active biological or geological processes on Mars and will provide communications relay for the 2020 surface assets. The Schiaparelli module will prove the technologies required to safely land a payload on the surface of Mars, with a package of sensors aimed to support the reconstruction of the flown trajectory and the assessment of the performance of the EDL subsystems. For the second Exomars mission a space vehicle composed of a Carrier Module (CM) and a Descent Module (DM), whose Landing Platform (LP) will house a Rover, will begin a 7 months long trip to Mars in August 2020. In 2021 the Descent Module will be separated from the Carrier to carry out the entry into the planet's atmosphere and subsequently make the Landing Platform and the Rover land gently on the surface of Mars. While the LP will continue to measure the environmental parameters of the landing site, the Rover will begin exploration of the surface, which is expected to last 218 Martian days (approx. 230 Earth

A Possible Landing Site in Aram Dorsum for the ExoMars Rover

NASA Image and Video Library

2014-08-27

This image captured by NASA Mars Reconnaissance Orbiter is of an area called Aram Dorsum also known by its old name, Oxia Palus that has been suggested for the 2018/2020 ExoMars Rover because it contains an ancient, exhumed alluvial system.

Development of the science instrument CLUPI: the close-up imager on board the ExoMars rover

NASA Astrophysics Data System (ADS)

Josset, J.-L.; Beauvivre, S.; Cessa, V.; Martin, P.

2017-11-01

First mission of the Aurora Exploration Programme of ESA, ExoMars will demonstrate key flight and in situ enabling technologies, and will pursue fundamental scientific investigations. Planned for launch in 2013, ExoMars will send a robotic rover to the surface of Mars. The Close-UP Imager (CLUPI) instrument is part of the Pasteur Payload of the rover fixed on the robotic arm. It is a robotic replacement of one of the most useful instruments of the field geologist: the hand lens. Imaging of surfaces of rocks, soils and wind drift deposits at high resolution is crucial for the understanding of the geological context of any site where the Pasteur rover may be active on Mars. At the resolution provided by CLUPI (approx. 15 micrometer/pixel), rocks show a plethora of surface and internal structures, to name just a few: crystals in igneous rocks, sedimentary structures such as bedding, fracture mineralization, secondary minerals, details of the surface morphology, sedimentary bedding, sediment components, surface marks in sediments, soil particles. It is conceivable that even textures resulting from ancient biological activity can be visualized, such as fine lamination due to microbial mats (stromatolites) and textures resulting from colonies of filamentous microbes, potentially present in sediments and in palaeocavitites in any rock type. CLUPI is a complete imaging system, consisting of an APS (Active Pixel Sensor) camera with 27° FOV optics. The sensor is sensitive to light between 400 and 900 nm with 12 bits digitization. The fixed focus optics provides well focused images of 4 cm x 2.4 cm rock area at a distance of about 10 cm. This challenging camera system, less than 200g, is an independent scientific instrument linked to the rover on board computer via a SpaceWire interface. After the science goals and specifications presentation, the development of this complex high performance miniaturized imaging system will be described.

The Raman Laser Spectrometer for the ExoMars Rover Mission to Mars

NASA Astrophysics Data System (ADS)

Rull, Fernando; Maurice, Sylvestre; Hutchinson, Ian; Moral, Andoni; Perez, Carlos; Diaz, Carlos; Colombo, Maria; Belenguer, Tomas; Lopez-Reyes, Guillermo; Sansano, Antonio; Forni, Olivier; Parot, Yann; Striebig, Nicolas; Woodward, Simon; Howe, Chris; Tarcea, Nicolau; Rodriguez, Pablo; Seoane, Laura; Santiago, Amaia; Rodriguez-Prieto, Jose A.; Medina, Jesús; Gallego, Paloma; Canchal, Rosario; Santamaría, Pilar; Ramos, Gonzalo; Vago, Jorge L.; RLS Team

2017-07-01

The Raman Laser Spectrometer (RLS) on board the ESA/Roscosmos ExoMars 2020 mission will provide precise identification of the mineral phases and the possibility to detect organics on the Red Planet. The RLS will work on the powdered samples prepared inside the Pasteur analytical suite and collected on the surface and subsurface by a drill system. Raman spectroscopy is a well-known analytical technique based on the inelastic scattering by matter of incident monochromatic light (the Raman effect) that has many applications in laboratory and industry, yet to be used in space applications. Raman spectrometers will be included in two Mars rovers scheduled to be launched in 2020. The Raman instrument for ExoMars 2020 consists of three main units: (1) a transmission spectrograph coupled to a CCD detector; (2) an electronics box, including the excitation laser that controls the instrument functions; and (3) an optical head with an autofocus mechanism illuminating and collecting the scattered light from the spot under investigation. The optical head is connected to the excitation laser and the spectrometer by optical fibers. The instrument also has two targets positioned inside the rover analytical laboratory for onboard Raman spectral calibration. The aim of this article was to present a detailed description of the RLS instrument, including its operation on Mars. To verify RLS operation before launch and to prepare science scenarios for the mission, a simulator of the sample analysis chain has been developed by the team. The results obtained are also discussed. Finally, the potential of the Raman instrument for use in field conditions is addressed. By using a ruggedized prototype, also developed by our team, a wide range of terrestrial analog sites across the world have been studied. These investigations allowed preparing a large collection of real, in situ spectra of samples from different geological processes and periods of Earth evolution. On this basis, we are working

A Possible Landing Site for the ExoMars Rover in Aram Dorsum

NASA Image and Video Library

2015-07-29

This image from NASA Mars Reconnaissance Orbiter is part of a proposed landing site in Aram Dorsum for the ExoMars Rover, planned for launch in 2018. Upper layers of light toned sediments have been eroded, leaving a lower surface which appears dark. The retreating sediment scarp slopes would be an important target for the rover if it ends up going to Aram Dorsum. The retreating scarps will be relatively recent compared to the ancient age of the terrain. That means that organic compounds-which is what ExoMars is designed to drill to 2 meters depth and analyze-will not have been exposed to the full effects of solar and galactic radiation for their entire history. Such radiation can break down organic compounds. Prior to this later erosion, the rocks formed in the ancient, Noachian era as alluvial deposits of fine grained sediment. http://photojournal.jpl.nasa.gov/catalog/PIA19859

ESA's new mission to search for signs of life on Mars: ExoMars and its Pasteur scientific payload

NASA Astrophysics Data System (ADS)

Vago, J. L.; Gardini, B.; Kminek, G.; Exomars Study Team

2003-04-01

ESA has recently completed a study for an exobiology mission to be launched in 2009. Its scientific objective is to search for signs of past and present life on Mars. Life as we know it relies, above all else, upon water. However, the present low ambient temperature and pressure conditions preclude the widespread existence of water on the Martian surface; except, maybe, in very localised environments, and then only episodically. Still, water/ice may lie at some depth underground. Additionally, because of the sterilizing/degrading effect of the Martian UV radiation spectrum, the search for life indicators, whether for present or for extinct life, should best be conducted below the surface. ESA's mission will consist of two main elements: a dedicated communications satellite, and a 200-kg rover. The rover will carry the Pasteur scientific payload. The Pasteur Model Payload used for the study is equipped with a multispectral, stereoscopic camera; an electromagnetic subsurface sounder to identify water/ice deposits; a drill capable of reaching a depth of 2 m, and also of collecting specimens from within surface rocks; a sample preparation unit, an optical microscope; an oxidation sensor; and a variety of spectroscopic instruments. For the characterisation of organic substances, Pasteur also houses a gas chromatographer/mass spectrometer, and a novel device based on protein assay chip technology. Latitudinal bands between 10 and 45 deg, both N and S can be targeted for landing. Over its envisioned lifetime of 180 sols, the rover is designed to cover 30-50 km of ground track over typical Martian terrain. Operations beyond this period will depend on the amount of dust deposited on the rover's solar panels. This paper summarises the present ExoMars concept. Particular attention is devoted to mission-imposed constraints having an influence on the science output: i.e. for instrument selection and operations, power generation, and landing sites.

Infrared Spectrometer for ExoMars: A Mast-Mounted Instrument for the Rover

NASA Astrophysics Data System (ADS)

Korablev, Oleg I.; Dobrolensky, Yurii; Evdokimova, Nadezhda; Fedorova, Anna A.; Kuzmin, Ruslan O.; Mantsevich, Sergei N.; Cloutis, Edward A.; Carter, John; Poulet, Francois; Flahaut, Jessica; Griffiths, Andrew; Gunn, Matthew; Schmitz, Nicole; Martín-Torres, Javier; Zorzano, Maria-Paz; Rodionov, Daniil S.; Vago, Jorge L.; Stepanov, Alexander V.; Titov, Andrei Yu.; Vyazovetsky, Nikita A.; Trokhimovskiy, Alexander Yu.; Sapgir, Alexander G.; Kalinnikov, Yurii K.; Ivanov, Yurii S.; Shapkin, Alexei A.; Ivanov, Andrei Yu.

2017-07-01

ISEM (Infrared Spectrometer for ExoMars) is a pencil-beam infrared spectrometer that will measure reflected solar radiation in the near infrared range for context assessment of the surface mineralogy in the vicinity of the ExoMars rover. The instrument will be accommodated on the mast of the rover and will be operated together with the panoramic camera (PanCam), high-resolution camera (HRC). ISEM will study the mineralogical and petrographic composition of the martian surface in the vicinity of the rover, and in combination with the other remote sensing instruments, it will aid in the selection of potential targets for close-up investigations and drilling sites. Of particular scientific interest are water-bearing minerals, such as phyllosilicates, sulfates, carbonates, and minerals indicative of astrobiological potential, such as borates, nitrates, and ammonium-bearing minerals. The instrument has an ˜1° field of view and covers the spectral range between 1.15 and 3.30 μm with a spectral resolution varying from 3.3 nm at 1.15 μm to 28 nm at 3.30 μm. The ISEM optical head is mounted on the mast, and its electronics box is located inside the rover's body. The spectrometer uses an acousto-optic tunable filter and a Peltier-cooled InAs detector. The mass of ISEM is 1.74 kg, including the electronics and harness. The science objectives of the experiment, the instrument design, and operational scenarios are described.

The PanCam Instrument for the ExoMars Rover

NASA Astrophysics Data System (ADS)

Coates, A. J.; Jaumann, R.; Griffiths, A. D.; Leff, C. E.; Schmitz, N.; Josset, J.-L.; Paar, G.; Gunn, M.; Hauber, E.; Cousins, C. R.; Cross, R. E.; Grindrod, P.; Bridges, J. C.; Balme, M.; Gupta, S.; Crawford, I. A.; Irwin, P.; Stabbins, R.; Tirsch, D.; Vago, J. L.; Theodorou, T.; Caballo-Perucha, M.; Osinski, G. R.; PanCam Team

2017-07-01

The scientific objectives of the ExoMars rover are designed to answer several key questions in the search for life on Mars. In particular, the unique subsurface drill will address some of these, such as the possible existence and stability of subsurface organics. PanCam will establish the surface geological and morphological context for the mission, working in collaboration with other context instruments. Here, we describe the PanCam scientific objectives in geology, atmospheric science, and 3-D vision. We discuss the design of PanCam, which includes a stereo pair of Wide Angle Cameras (WACs), each of which has an 11-position filter wheel and a High Resolution Camera (HRC) for high-resolution investigations of rock texture at a distance. The cameras and electronics are housed in an optical bench that provides the mechanical interface to the rover mast and a planetary protection barrier. The electronic interface is via the PanCam Interface Unit (PIU), and power conditioning is via a DC-DC converter. PanCam also includes a calibration target mounted on the rover deck for radiometric calibration, fiducial markers for geometric calibration, and a rover inspection mirror.

Infrared Spectrometer for ExoMars: A Mast-Mounted Instrument for the Rover.

PubMed

Korablev, Oleg I; Dobrolensky, Yurii; Evdokimova, Nadezhda; Fedorova, Anna A; Kuzmin, Ruslan O; Mantsevich, Sergei N; Cloutis, Edward A; Carter, John; Poulet, Francois; Flahaut, Jessica; Griffiths, Andrew; Gunn, Matthew; Schmitz, Nicole; Martín-Torres, Javier; Zorzano, Maria-Paz; Rodionov, Daniil S; Vago, Jorge L; Stepanov, Alexander V; Titov, Andrei Yu; Vyazovetsky, Nikita A; Trokhimovskiy, Alexander Yu; Sapgir, Alexander G; Kalinnikov, Yurii K; Ivanov, Yurii S; Shapkin, Alexei A; Ivanov, Andrei Yu

ISEM (Infrared Spectrometer for ExoMars) is a pencil-beam infrared spectrometer that will measure reflected solar radiation in the near infrared range for context assessment of the surface mineralogy in the vicinity of the ExoMars rover. The instrument will be accommodated on the mast of the rover and will be operated together with the panoramic camera (PanCam), high-resolution camera (HRC). ISEM will study the mineralogical and petrographic composition of the martian surface in the vicinity of the rover, and in combination with the other remote sensing instruments, it will aid in the selection of potential targets for close-up investigations and drilling sites. Of particular scientific interest are water-bearing minerals, such as phyllosilicates, sulfates, carbonates, and minerals indicative of astrobiological potential, such as borates, nitrates, and ammonium-bearing minerals. The instrument has an ∼1° field of view and covers the spectral range between 1.15 and 3.30 μm with a spectral resolution varying from 3.3 nm at 1.15 μm to 28 nm at 3.30 μm. The ISEM optical head is mounted on the mast, and its electronics box is located inside the rover's body. The spectrometer uses an acousto-optic tunable filter and a Peltier-cooled InAs detector. The mass of ISEM is 1.74 kg, including the electronics and harness. The science objectives of the experiment, the instrument design, and operational scenarios are described. Key Words: ExoMars-ISEM-Mars-Surface-Mineralogy-Spectroscopy-AOTF-Infrared. Astrobiology 17, 542-564.

ExoMars Mission 2016, Orbiter Module Power System Architecture (Based On An Unregulated Bus & MPPT Controlled Step-Down Voltage Regulators)

NASA Astrophysics Data System (ADS)

Digoin, JJ.; Boutelet, E.

2011-10-01

The main objective of the ExoMars program is to demonstrate key flight in situ enabling technologies in support of the European ambitions for future exploration missions and to pursue fundamental scientific investigations. Two missions are foreseen within the ExoMars program for the 2016 and 2018 launch opportunities to Mars. The 2016 mission is an ESA led mission that will supply a Mars Orbiter Module (OM) carrying an Entry Descent module (EDM) and NASA/ESA scientific instruments. The 2018 mission is a NASA led mission bringing one ESA rover and one NASA rover onto the Mars surface. This paper presents the OM Electrical Power Sub- system (EPS) design achieved at the end of pre- development phase. The main aspects addressed are: - EPS major constraints due to mission and environment, a succinct description of the power units, - Trade-off analyses results leading to the selected EPS architecture, - Preliminary results of electrical and energy simulations, - EPS units development plan.

The PanCam instrument on the 2018 Exomars rover: Scientific objectives

NASA Astrophysics Data System (ADS)

Jaumann, Ralf; Coates, Andrew; Hauber, Ernst; Hoffmann, Harald; Schmitz, Nicole; Le Deit, Laetitia; Tirsch, Daniela; Paar, Gerhard; Griffiths, Andrew

2010-05-01

The Exomars Panoramic Camera System is an imaging suite of three camera heads to be mounted on the ExoMars rover`s mast, with the boresight 1.8 m above ground. As late as the ExoMars Pasteur Payload Design Review (PDR) in 2009, the PanCam consists of two identical wide angle cameras (WAC) with fixed focal length lenses, and a high resolution camera (HRC) with an automatic focus mechanism, placed adjacent to the right WAC. The WAC stereo pair provides binocular vision for stereoscopic studies as well as 12 filter positions (per camera) for stereoscopic colour imaging and scientific multispectral studies. The stereo baseline of the pair is 500 mm. The two WAC have 22 mm focal length, f/10 lenses that illuminate detectors with 1024 × 1024 pixels. WAC lenses are fixed, with an optimal focus set to 4 m, and a focus ranging from 1.2 m (corresponding to the nearest view of the calibration target on the rover deck) to infinity. The HRC is able to focus between 0.9 m (distance to a drill core on the rover`s sample tray) and infinity. The instantaneous field of views of WAC and HRC are 580 μrad/pixel and 83 μrad/pixel, respectively. The corresponding resolution (in mm/pixel) at a distance of 2 m are 1.2 (WAC) and 0.17 (HRC), at 100 m distance it is 58 (WAC) and 8.3 (HRC). WAC and HRC will be geometrically co-aligned. The main scientific goal of PanCam is the geologic characterisation of the environment in which the rover is operating, providing the context for investigations carried out by the other instruments of the Pasteur payload. PanCam data will serve as a bridge between orbital data (high-resolution images from HRSC, CTX, and HiRISE, and spectrometer data from OMEGA and CRISM) and the data acquired in situ on the Martian surface. The position of HRC on top of the rover`s mast enables the detailed panoramic inspection of surface features over the full horizontal range of 360° even at large distances, an important prerequisite to identify the scientifically most

The PanCam Instrument for the ExoMars Rover

PubMed Central

Coates, A.J.; Jaumann, R.; Griffiths, A.D.; Leff, C.E.; Schmitz, N.; Josset, J.-L.; Paar, G.; Gunn, M.; Hauber, E.; Cousins, C.R.; Cross, R.E.; Grindrod, P.; Bridges, J.C.; Balme, M.; Gupta, S.; Crawford, I.A.; Irwin, P.; Stabbins, R.; Tirsch, D.; Vago, J.L.; Theodorou, T.; Caballo-Perucha, M.; Osinski, G.R.

2017-01-01

Abstract The scientific objectives of the ExoMars rover are designed to answer several key questions in the search for life on Mars. In particular, the unique subsurface drill will address some of these, such as the possible existence and stability of subsurface organics. PanCam will establish the surface geological and morphological context for the mission, working in collaboration with other context instruments. Here, we describe the PanCam scientific objectives in geology, atmospheric science, and 3-D vision. We discuss the design of PanCam, which includes a stereo pair of Wide Angle Cameras (WACs), each of which has an 11-position filter wheel and a High Resolution Camera (HRC) for high-resolution investigations of rock texture at a distance. The cameras and electronics are housed in an optical bench that provides the mechanical interface to the rover mast and a planetary protection barrier. The electronic interface is via the PanCam Interface Unit (PIU), and power conditioning is via a DC-DC converter. PanCam also includes a calibration target mounted on the rover deck for radiometric calibration, fiducial markers for geometric calibration, and a rover inspection mirror. Key Words: Mars—ExoMars—Instrumentation—Geology—Atmosphere—Exobiology—Context. Astrobiology 17, 511–541.

Panoramic 3d Vision on the ExoMars Rover

NASA Astrophysics Data System (ADS)

Paar, G.; Griffiths, A. D.; Barnes, D. P.; Coates, A. J.; Jaumann, R.; Oberst, J.; Gao, Y.; Ellery, A.; Li, R.

The Pasteur payload on the ESA ExoMars Rover 2011/2013 is designed to search for evidence of extant or extinct life either on or up to ˜2 m below the surface of Mars. The rover will be equipped by a panoramic imaging system to be developed by a UK, German, Austrian, Swiss, Italian and French team for visual characterization of the rover's surroundings and (in conjunction with an infrared imaging spectrometer) remote detection of potential sample sites. The Panoramic Camera system consists of a wide angle multispectral stereo pair with 65° field-of-view (WAC; 1.1 mrad/pixel) and a high resolution monoscopic camera (HRC; current design having 59.7 µrad/pixel with 3.5° field-of-view) . Its scientific goals and operational requirements can be summarized as follows: • Determination of objects to be investigated in situ by other instruments for operations planning • Backup and Support for the rover visual navigation system (path planning, determination of subsequent rover positions and orientation/tilt within the 3d environment), and localization of the landing site (by stellar navigation or by combination of orbiter and ground panoramic images) • Geological characterization (using narrow band geology filters) and cartography of the local environments (local Digital Terrain Model or DTM). • Study of atmospheric properties and variable phenomena near the Martian surface (e.g. aerosol opacity, water vapour column density, clouds, dust devils, meteors, surface frosts,) 1 • Geodetic studies (observations of Sun, bright stars, Phobos/Deimos). The performance of 3d data processing is a key element of mission planning and scientific data analysis. The 3d Vision Team within the Panoramic Camera development Consortium reports on the current status of development, consisting of the following items: • Hardware Layout & Engineering: The geometric setup of the system (location on the mast & viewing angles, mutual mounting between WAC and HRC) needs to be optimized w

ExoMars Raman laser spectrometer overview

NASA Astrophysics Data System (ADS)

Rull, F.; Sansano, A.; Díaz, E.; Canora, C. P.; Moral, A. G.; Tato, C.; Colombo, M.; Belenguer, T.; Fernández, M.; Manfredi, J. A. R.; Canchal, R.; Dávila, B.; Jiménez, A.; Gallego, P.; Ibarmia, S.; Prieto, J. A. R.; Santiago, A.; Pla, J.; Ramos, G.; González, C.

2010-09-01

The Raman Laser Spectrometer (RLS) is one of the Pasteur Payload instruments, within the ESA's Aurora Exploration Programme, ExoMars mission. The RLS Instrument will perform Raman spectroscopy on crushed powered samples deposited on a small container after crushing the cores obtained by the Rover's drill system. This is the first time that a Raman spectrometer will be launched in an out planetary mission. The Instrument will be accommodated and operate inside the Rover's ALD (Analytical Laboratory Drawer), complying with COSPAR (Committee on Space Research) Planetary Protection requirements. The RLS Instrument is composed by the following units: SPU (Spectrometer Unit); iOH: (Internal Optical Head); ICEU (Instrument Control and Excitation Unit). Other instrument units are EH (Electrical Harness), OH (Optical Harness) and RLS SW On-Board.

Surface-based 3D measurements of small aeolian bedforms on Mars and implications for estimating ExoMars rover traversability hazards

NASA Astrophysics Data System (ADS)

Balme, Matt; Robson, Ellen; Barnes, Rob; Butcher, Frances; Fawdon, Peter; Huber, Ben; Ortner, Thomas; Paar, Gerhard; Traxler, Christoph; Bridges, John; Gupta, Sanjeev; Vago, Jorge L.

2018-04-01

Recent aeolian bedforms comprising loose sand are common on the martian surface and provide a mobility hazard to Mars rovers. The ExoMars rover will launch in 2020 to one of two candidate sites: Mawrth Vallis or Oxia Planum. Both sites contain numerous aeolian bedforms with simple ripple-like morphologies. The larger examples are 'Transverse Aeolian Ridges' (TARs), which stereo imaging analyses have shown to be a few metres high and up to a few tens of metres across. Where they occur, TARs therefore present a serious, but recognized and avoidable, rover mobility hazard. There also exists a population of smaller bedforms of similar morphology, but it is unknown whether these bedforms will be traversable by the ExoMars rover. We informally refer to these bedforms as "mini-TARs", as they are about an order of magnitude smaller than most TARs observed to date. They are more abundant than TARs in the Oxia Planum site, and can be pervasive in areas. The aim of this paper is to estimate the heights of these features, which are too small to measured using High Resolution Imaging Science Experiment (HiRISE) Digital Elevation Models (DEMs), from orbital data alone. Thereby, we aim to increase our knowledge of the hazards in the proposed ExoMars landing sites. We propose a methodology to infer the height of these mini-TARs based on comparisons with similar features observed by previous Mars rovers. We use rover-based stereo imaging from the NASA Mars Exploration Rover (MER) Opportunity and PRo3D software, a 3D visualisation and analysis tool, to measure the size and height of mini-TARs in the Meridiani Planum region of Mars. These are good analogues for the smaller bedforms at the ExoMars rover candidate landing sites. We show that bedform height scales linearly with length (as measured across the bedform, perpendicular to the crest ridge) with a ratio of about 1:15. We also measured the lengths of many of the smaller aeolian bedforms in the ExoMars rover Oxia Planum

The PanCam instrument on the 2018 Exomars rover: Science Implementation Strategy and Integrated Surface Operations Concept

NASA Astrophysics Data System (ADS)

Schmitz, Nicole; Jaumann, Ralf; Coates, Andrew; Griffiths, Andrew; Hauber, Ernst; Trauthan, Frank; Paar, Gerhard; Barnes, Dave; Bauer, Arnold; Cousins, Claire

2010-05-01

Geologic context as a combination of orbital imaging and surface vision, including range, resolution, stereo, and multispectral imaging, is commonly regarded as basic requirement for remote robotic geology and forms the first tier of any multi-instrument strategy for investigating and eventually understanding the geology of a region from a robotic platform. Missions with objectives beyond a pure geologic survey, e.g. exobiology objectives, require goal-oriented operational procedures, where the iterative process of scientific observation, hypothesis, testing, and synthesis, performed via a sol-by-sol data exchange with a remote robot, is supported by a powerful vision system. Beyond allowing a thorough geological mapping of the surface (soil, rocks and outcrops) in 3D, using wide angle stereo imagery, such a system needs to be able to provide detailed visual information on targets of interest in high resolution, thereby enabling the selection of science targets and samples for further analysis with a specialized in-situ instrument suite. Surface vision for ESA's upcoming ExoMars rover will come from a dedicated Panoramic Camera System (PanCam). As integral part of the Pasteur payload package, the PanCam is designed to support the search for evidence of biological processes by obtaining wide angle multispectral stereoscopic panoramic images and high resolution RGB images from the mast of the rover [1]. The camera system will consist of two identical wide-angle cameras (WACs), which are arranged on a common pan-tilt mechanism, with a fixed stereo base length of 50 cm. The WACs are being complemented by a High Resolution Camera (HRC), mounted between the WACs, which allows a magnification of selected targets by a factor of ~8 with respect to the wide-angle optics. The high-resolution images together with the multispectral and stereo capabilities of the camera will be of unprecedented quality for the identification of water-related surface features (such as sedimentary

CLUPI: CLose-UP Imager on.board the ExoMars Mission Rover

NASA Astrophysics Data System (ADS)

Josset, Jean-Luc

The CLose-UP Imager (CLUPI) imaging experiment is designed to obtain high-resolution colour and stereo images of rocks from the ExoMars rover (Pasteur payload). The close-up imager is a robotic equivalent of one of the most useful instruments of the field geologist: the hand lens. Imaging of surfaces of rocks, soils and wind drift deposits is crucial for the understanding of the geological context of any site where the rover will be active on Mars. The purpose of the Close-up imager is to look an area of about 4 cm x 2.6 cm of the rocks at a focus distance of 10 cm. With a resolution of approx. 15 micrometer/pixel, many kinds of rock surface and internal structures can be visualized: crystals in igneous rocks, fracture mineralization, secondary minerals, details of the surface morphology, sediment components, sedimentary structures, soil particles. It is conceivable that even textures resulting from ancient biological activity can be seen, such as fine lamination due to microbial mats (stromatolites) and textures resulting from colonies of filamentous microbes. CLUPI is a powerful highly integrated miniaturized (¡208g) low-power robust imaging system with no mobile part, able to operate at very low temperature (-120° C). The opto-mechanical interfaces will be a smart assembly in titanium sustaining wide temperature range. The concept benefits from well-proven heritage: Proba, Rosetta, MarsExpress and Smart-1 missions. . . The close-up imager CLUPI on the ExoMars Rover will be described together with its capabilities to provide important information significantly contributing to the understanding of the geological environment and could identify outstanding potential biofabrics (stromatolites...) of past life on Mars.

ExoMars Raman laser spectrometer breadboard overview

NASA Astrophysics Data System (ADS)

Díaz, E.; Moral, A. G.; Canora, C. P.; Ramos, G.; Barcos, O.; Prieto, J. A. R.; Hutchinson, I. B.; Ingley, R.; Colombo, M.; Canchal, R.; Dávila, B.; Manfredi, J. A. R.; Jiménez, A.; Gallego, P.; Pla, J.; Margoillés, R.; Rull, F.; Sansano, A.; López, G.; Catalá, A.; Tato, C.

2011-10-01

The Raman Laser Spectrometer (RLS) is one of the Pasteur Payload instruments, within the ESA's Aurora Exploration Programme, ExoMars mission. The RLS Instrument will perform Raman spectroscopy on crushed powdered samples deposited on a small container after crushing the cores obtained by the Rover's drill system. In response to ESA requirements for delta-PDR to be held in mid 2012, an instrument BB programme has been developed, by RLS Assembly Integration and Verification (AIV) Team to achieve the Technology Readiness level 5 (TRL5), during last 2010 and whole 2011. Currently RLS instrument is being developed pending its CoDR (Conceptual Design Revision) with ESA, in October 2011. It is planned to have a fully operative breadboard, conformed from different unit and sub-units breadboards that would demonstrate the end-to-end performance of the flight representative units by 2011 Q4.

Design and Performance of the WISDOM Antenna System aboard the ExoMars Rover

NASA Astrophysics Data System (ADS)

Plettemeier, D.; Ciarletti, V.; Hamran, S.; Corbel, C.; Linke, S.; Benedix, W.

2009-04-01

A full polarimetric antenna system on board the ExoMars rover is part of the Experiment "Water Ice and Subsurface Deposit Observations on Mars" (WISDOM). The WISDOM-Experiment is a Ground Penetrating Radar (GPR) selected to be part of the Pasteur payload aboard the rover of the ExoMars mission. The Pasteur Panoramic Instruments (wide angle camera PANCAM, infrared spectrometer MIMA and WISDOM) will perform large-scale scientific investigations at the sites the Rover will visit. Among these instruments, WISDOM is the only one that can provide a view of the subsurface structure prior to drilling. WISDOM is the first space borne GPR aboard a rover and has been designed to characterize the shallow subsurface structure of Mars. WISDOM will give for the first time access to the geological structure, electromagnetic nature, and, possibly, of hydrological state of the shallow subsurface by retrieving the layering and properties of the buried reflectors. It will address some important related science questions regarding the planet present state and past evolution. The measured data will also be used to determine the most promising locations at which to obtain underground samples with the drilling system mounted on board the rover. The instrument objective for WISDOM is to get high-resolution measurements down to 2-meters depth in the Martian crust. The radar is a gated step frequency system covering the frequency range from 500 MHz to 3 GHz. The radar is fully polarimetric and makes use of four ultra wideband Vivaldi antennas. This poster describes the requirements, the design and the realization of the WISDOM antenna system accommodated on the ExoMars rover. Simulated antenna performance and measured antenna parameters as well as preliminary antenna test measurements performed in the lab and in permafrost regions on earth will be discussed in this poster presentation. The main design requirements of the WISDOM antenna system are driven one hand by the required science

Present Status and Near Term Activities for the ExoMars Trace Gas Orbiter.

NASA Astrophysics Data System (ADS)

Svedhem, H.; Vago, J. L.

2017-12-01

The ExoMars 2016 mission was launched on a Proton rocket from Baikonur, Kazakhstan, on 14 March 2016 and arrived at Mars on 19 October 2016. The spacecraft is now performing aerobraking to reduce its orbital period from initial post-insertion orbital period of one Sol to the final science orbit with a 2 hours period. The orbital inclination will be 74 degrees. During the aerobraking a wealth of data has been acquired on the state of the atmosphere along the tracks between 140km and the lowest altitude at about 105 km. These data are now being analysed and compared with existing models. In average TGO measures a lower atmospheric density than predicted, but the numbers lay within the expected variability. ExoMars is a joint programme of the European Space Agency (ESA) and Roscosmos, Russia. It consists of the ExoMars 2016 mission with the Trace Gas Orbiter, TGO, and the Entry Descent and Landing Demonstrator, EDM, named Schiaparelli, and the ExoMars 2020 mission, which carries a lander and a rover. The TGO scientific payload consists of four instruments: ACS and NOMAD, both infrared spectrometers for atmospheric measurements in solar occultation mode and in nadir mode, CASSIS, a multichannel camera with stereo imaging capability, and FREND, an epithermal neutron detector to search for subsurface hydrogen (as proxy for water ice and hydrated minerals). The launch mass of the TGO was 3700 kg, including fuel. In addition to its scientific measurements TGO will act as a relay orbiter for NASA's landers on Mars and as from 2021 for the ESA-Roscosmos Rover and Surface Station.

The ExoMars science data archive: status and plans

NASA Astrophysics Data System (ADS)

Heather, David

2016-07-01

The ExoMars program, a cooperation between ESA and Roscosmos, comprises two missions: the Trace Gas Orbiter, to be launched in 2016, and a rover and surface platform, due for launch in 2018. This will be the first time ESA has operated a rover, and the archiving and management of the science data to be returned will require a significant effort in development of the new Planetary Science Archive (PSA). The ExoMars mission data will also be formatted according to the new PDS4 Standards, based in XML, and this will be the first data of that format to be archived in the PSA. There are significant differences in the way in which a scientist will want to query, retrieve, and use data from a suite of rover instruments as opposed to remote sensing instrumentation from an orbiter. The PSA data holdings and the accompanying services are currently driven more towards the management of remote sensing data, so some significant changes will be needed. Among them will be a much closer link to the operational information than is currently available for our missions. NASA have a strong user community interaction with their analysts notebook, which provides detailed operational information to explain why, where and when operations took place. A similar approach will be needed for the future PSA, which is currently being designed. In addition to the archiving interface itself, there are differences with the overall archiving process being followed for ExoMars compared to previous ESA planetary missions. The Trace Gas Orbiter data pipelines for the first level of processing from telemetry to raw data, will be hosted directly by ESA's ground segment at ESAC in Madrid, where the archive itself resides. Data will have a continuous flow direct to the PSA, where after the given proprietary period, it will be directly released to the community via the new user interface. For the rover mission, the data pipelines are being developed by European industry, in close collaboration with ESA PSA

Potential ExoMars Rover Landing Sites: Aram Dorsam (previously known as Oxia Palus) and Hypanis Delta

NASA Astrophysics Data System (ADS)

Sefton-Nash, E.; Balme, M. R.; Grindrod, P. M.; Gupta, S.; Fawdon, P.; Muller, J. P.; Michalski, J. R.

2014-12-01

The search for life on Mars is a cornerstone of international solar system exploration. In 2018, the European Space agency will launch the ExoMars Rover to further this. The key science objectives of the ExoMars Rover are to: 1) search for signs of past and present life on Mars; 2) investigate the water/geochemical environment as a function of depth in the shallow subsurface; and 3) to characterise the surface environment. ExoMars will drill into the sub-surface to look for indicators of past life using a variety of complementary techniques, including assessment of morphology (potential fossil organisms), mineralogy (past environments) and a search for organic molecules and their chirality (biomarkers). The choice of landing site is vital if the objectives are to be met. The landing site must: (i) be ancient (≥3.6 Ga); (ii) show abundant morphological and mineral evidence for long-term, or frequently reoccurring, aqueous activity; (iii) include numerous sedimentary outcrops that (iv) are distributed over the landing region (the typical Rover traverse range is a few km, but ellipse size is ~ 100 by 15 km). Various 'engineering constraints' also apply, including: (i) latitude limited to 5º S to 25º N; (ii) maximum altitude of the landing site 2 km below Mars's datum; and (iii) few steep slopes within the ellipse. In March 2014, the first ExoMars Landing Site Selection Workshop was held, during which about ten different landing sites were presented and discussed. At the end of the workshop a poll of the workshop participants highlighted four sites as highest priority: Mawrth Vallis, Oxia Planum, Oxia Palus and Hypanis Delta. Of these, our team led proposals for the Oxia Palus and Hypanis Delta sites. The Oxia Palus site has since been renamed "Aram Dorsum" - the name the IAU designated to the inverted channel system that is the most prominent feature of the site. This is inferred to be the remnants of a long-lived, widespread alluvial system that was buried and

ExoMars Trace Gas Orbiter provides atmospheric data during Aerobraking into its final orbit

NASA Astrophysics Data System (ADS)

Svedhem, Hakan; Vago, Jorge L.; Bruinsma, Sean; Müller-Wodarg, Ingo; ExoMars 2016 Team

2017-10-01

After the arrival of the Trace Gas Orbiter (TGO) at Mars on 19 October 2016 a number of initial orbit change manoeuvres were executed and the spacecraft was put in an orbit with a 24 hour period and 74 degrees inclination. The spacecraft and its four instruments were thoroughly checked out after arrival and a few measurements and images were taken in November 2016 and in Feb-March 2017. The solar occultation observations have however not yet been possible due to lack of the proper geometry.On 15 March a long period of aerobraking to reach the final 400km semi-circular frozen orbit (370x430km, with a fixed pericentre latitude). This orbit is optimised for the payload observations and for the communication relay with the ExoMars Rover, due to arrive in 2021.The aerobraking is proceeding well and the final orbit is expected to be reached in April 2018. A large data set is being acquired for the upper atmosphere of Mars, from the limit of the sensitivity of the accelerometer, down to lowest altitude of the aerobraking at about 105km. Initial analysis has shown a highly variable atmosphere with a slightly lower density then predicted by existing models. Until the time of the abstract writing no dust storms have been observed.The ExoMars programme is a joint activity by the European Space Agency(ESA) and ROSCOSMOS, Russia. ESA is providing the TGO spacecraft and Schiaparelli (EDM) and two of the TGO instruments and ROSCOSMOS is providing the Proton launcher and the other two TGO instruments. After the arrival of the ExoMars 2020 mission, consisting of a Rover and a Surface platform also launched by a Proton rocket, the TGO will handle the communication between the Earth and the Rover and Surface Platform through its (NASA provided) UHF communication system.

ExoMars: Overview of scientific programme

NASA Astrophysics Data System (ADS)

Rodionov, Daniel; Witasse, Olivier; Vago, Jorge L.

The ExoMars Programme is a joint project between the European Space Agency (ESA) and the Russian Federal Space Agency (Roscosmos). The project consists of two missions with launches in 2016 and 2018. The scientific objectives of ExoMars are: begin{itemize} To search for signs of past and present life on Mars. To investigate the water/geochemical environment as a function of depth in the shallow subsurface. To study Martian atmospheric trace gases and their sources. To characterize the surface environment. The 2016 mission will be launched (January 2016) on a Proton rocket. It includes the Trace Gas Orbiter (TGO) and an Entry, descent and landing Demonstrator Module (EDM), both contributed by ESA. The TGO will carry European and Russian scientific instruments for remote observations, while the EDM will have a European payload for in-situ measurements during descent and on the Martian surface. The TGO scientific payload includes:begin{itemize} NOMAD. Suite of 2 Infrared (IR) and 1 Ultraviolet (UV) spectrometer. ACS. Suite of 2 IR echelle-spectrometers (near and middle IR) and 1 Fourier spectrometer. FREND. Neutron spectrometer with a collimation module. CaSSIS. High-resolution camera. The EDM payload includes a set of accelerometers and heat shield sensors (AMELIA), to study the Martian atmosphere and obtain images throughout the EDM’s descent, and an environmental station (DREAMS), to conduct a series of short meteorological observations at the EDM’s landing location. The 2018 mission will land a Rover, provided by ESA, making use of a Descent Module (DM) contributed by Roscosmos. The mission will be launched on a Proton rocket (May 2018). The ExoMars rover will have a nominal lifetime of approximately 6 months. During this period, it will ensure a regional mobility of several kilometres, relying on solar array electrical power. The rover’s Pasteur payload will produce self-consistent sets of measurements capable to provide reliable evidence, for or against

ExoMars 2016 arrives at Mars

NASA Astrophysics Data System (ADS)

Svedhem, Hakan; Vago, Jorge L.; ExoMars Team

2016-10-01

The Trace Gas Orbiter (TGO) and the Schiaparelli Entry, descent and landing Demonstrator Model (EDM) will arrive at Mars on 19 October 2016. The TGO and the EDM are part of the first step of the ExoMars Programme. They will be followed by a Rover and a long lived Surface Platform to be launched in 2020.The EDM is attached to the TGO for the full duration of the cruise to Mars and will be separated three days before arrival at Mars. After separation the TGO will perform a deflection manoeuvre and, on 19 October (during the EDM landing), enter into a highly elliptical near equatorial orbit. TGO will remain in this parking orbit until January 2017, when the orbital plane inclination will be changed to 74 degrees and aerobraking to the final 400 km near circular orbit will start. The final operational orbit is expected to be reached at the end of 2017.The TGO scientific payload consists of four instruments. These are: ACS and NOMAD, both infrared spectrometers for atmospheric measurements in solar occultation mode and in nadir mode, CASSIS, a multichannel camera with stereo imaging capability, and FREND, an epithermal neutron detector for search of subsurface hydrogen. The mass of the TGO is 3700 kg, including fuel. The EDM, with a mass of 600 kg, is mounted on top of the TGO as seen in its launch configuration. The main objective of the EDM is to demonstrate the capability of performing a safe entry, descent and landing on the surface, but it does carry a descent camera and a small battery powered meteorological package that may operate for a few days on the surface.The ExoMars programme is a joint activity by the European Space Agency(ESA) and ROSCOSMOS, Russia. ESA is providing the TGO spacecraft and Schiaparelli (EDM) and two of the TGO instruments and ROSCOSMOS is providing the launcher and the other two TGO instruments. After the arrival of the ExoMars 2020 mission at the surface of Mars, the TGO will handle the communication between the Earth and the Rover and

ExoMars 2018 Landing Site Selection Process

NASA Astrophysics Data System (ADS)

Vago, Jorge L.; Kminek, Gerhard; Rodionov, Daniel

The ExoMars 2018 mission will include two science elements: a Rover and a Surface Platform. The ExoMars Rover will carry a comprehensive suite of instruments dedicated to geology and exobiology research named after Louis Pasteur. The Rover will be able to travel several kilometres searching for traces of past and present signs of life. It will do this by collecting and analysing samples from outcrops, and from the subsurface—down to 2-m depth. The very powerful combination of mobility with the ability to access locations where organic molecules can be well preserved is unique to this mission. After the Rover will have egressed, the ExoMars Surface Platform will begin its science mission to study the surface environment at the landing location. This talk will describe the landing site selection process and introduce the scientific, planetary protection, and engineering requirements that candidate landing sites must comply with in order to be considered for the mission.

Spectrometer ISEM for ExoMars-2020 space mission

NASA Astrophysics Data System (ADS)

Dobrolenskiy, Y. S.; Korablev, O. I.; Fedorova, A. A.; Mantsevich, S. N.; Kalinnikov, Y. K.; Vyazovetskiy, N. A.; Titov, A. Y.; Stepanov, A. V.; Sapgir, A. G.; Alexandrov, K. V.; Evdokimova, N. A.; Kuzmin, R. O.

2017-09-01

Robust design, small dimensions and mass, the absence of moving parts in acousto-optic tunable filters (AOTFs) make them popular for space applications. Here we introduce a pencil-beam near-infrared AOTF-based spectrometer ISEM for context assessment of the surface mineralogy in the vicinity of a planetary probe or a rover analyzing the reflected solar radiation in the near infrared range. The ISEM (Infrared Spectrometer for ExoMars) instrument is to be deployed on the mast of ExoMars Rover planned for launch in 2020.

ExoMars 2018: the four final candidate Landing Sites

NASA Astrophysics Data System (ADS)

Loizeau, Damien; Flahaut, Jessica; Vago, Jorge L.; Hauber, Ernst; Bridges, John C.

2015-04-01

The ExoMars 2018 mission will land a rover on Mars, its scientific objectives are to search for signs of past and present life on Mars and to investigate the water/geochemical environment as a function of depth in the shallow subsurface. The rover will be able to travel several kilometres, analyzing surface and subsurface samples, down to a 2 meter depth. The very powerful combination of mobility with the ability to access in-depth locations, where organic molecules can be well preserved, is unique to this mission [1]. An invitation has been sent to the community to propose scientifically compelling sites for the mission [2], which comply to the main engineering constraints for landing and operation safety. Scientifically interesting sites include locations with evidence for long duration or frequently recurring aqueous activity, low energy transport and deposition, fined-grained, recently exposed sediments, and/or hydrated minerals such as clays or evaporites. The outcrops of interest must be distributed over the landing ellipse to ensure that the rover can access some of them over a short distance [2]. The received proposals have been reviewed by the Landing Site Selection Working Group (LSSWG) and at first eight sites were found to be compliant with the science, engineering, and planetary protection requirements [3]. These sites were presented by their proposers and discussed at the first landing site workshop that took place in ESAC, Spain, 26-28 March 2014. Following that workshop, four sites were selected for further investigation, on the base of their higher potential for long lived water activity, the presence of fine grained sediments, and also importantly on the high concentration of potential targets of interest over the whole landing ellipse [3]. The analysis of these sites, both in term of scientific relevance and engineering safety, is still on-going. Latest findings were presented during a second workshop that took place in ALTEC, Torino, Italy, 11

Field Test of the ExoMars Panoramic Camera in the High Arctic - First Results and Lessons Learned

NASA Astrophysics Data System (ADS)

Schmitz, N.; Barnes, D.; Coates, A.; Griffiths, A.; Hauber, E.; Jaumann, R.; Michaelis, H.; Mosebach, H.; Paar, G.; Reissaus, P.; Trauthan, F.

2009-04-01

The ExoMars mission as the first element of the ESA Aurora program is scheduled to be launched to Mars in 2016. Part of the Pasteur Exobiology Payload onboard the ExoMars rover is a Panoramic Camera System (‘PanCam') being designed to obtain high-resolution color and wide-angle multi-spectral stereoscopic panoramic images from the mast of the ExoMars rover. The PanCam instrument consists of two wide-angle cameras (WACs), which will provide multispectral stereo images with 34° field-of-view (FOV) and a High-Resolution RGB Channel (HRC) to provide close-up images with 5° field-of-view. For field testing of the PanCam breadboard in a representative environment the ExoMars PanCam team joined the 6th Arctic Mars Analogue Svalbard Expedition (AMASE) 2008. The expedition took place from 4-17 August 2008 in the Svalbard archipelago, Norway, which is considered to be an excellent site, analogue to ancient Mars. 31 scientists and engineers involved in Mars Exploration (among them the ExoMars WISDOM, MIMA and Raman-LIBS team as well as several NASA MSL teams) combined their knowledge, instruments and techniques to study the geology, geophysics, biosignatures, and life forms that can be found in volcanic complexes, warm springs, subsurface ice, and sedimentary deposits. This work has been carried out by using instruments, a rover (NASA's CliffBot), and techniques that will/may be used in future planetary missions, thereby providing the capability to simulate a full mission environment in a Mars analogue terrain. Besides demonstrating PanCam's general functionality in a field environment, test and verification of the interpretability of PanCam data for in-situ geological context determination and scientific target selection was a main objective. To process the collected data, a first version of the preliminary PanCam 3D reconstruction processing & visualization chain was used. Other objectives included to test and refine the operational scenario (based on ExoMars Rover

The ExoMars Sample Preparation and Distribution System

NASA Astrophysics Data System (ADS)

Schulte, Wolfgang; Hofmann, Peter; Baglioni, Pietro; Richter, Lutz; Redlich, . Daniel; Notarnicola, Marco; Durrant, Stephen

2012-07-01

The Sample Preparation and Distribution System (SPDS) is a key element of the ESA ExoMars Rover. It is a set of complex mechanisms designed to receive Mars soil samples acquired from the subsurface with a drill, to crush them and to distribute the obtained soil powder to the scientific instruments of the `Pasteur Payload', in the Rover Analytical Laboratory (ALD). In particular, the SPDS consists of: (1) a Core Sample Handling System (CSHS), including a Core Sample Transportation Mechanism (CSTM) and a Blank Sample Dispenser; (2) a Crushing Station (CS); (3) a Powder Sample Dosing and Distribution System (PSDDS); and (4) a Powder Sample Handling System (PSHS) which is a carousel carrying pyrolysis ovens, a re-fillable sample container and a tool to flatten the powder sample surface. Kayser-Threde has developed, undercontract with the ExoMars prime contractor Thales Alenia Space Italy, breadboards and an engineering model of the SPDS mechanisms. Tests of individual mechanisms, namely the CSTM, CS and PSDDS were conducted both in laboratory ambient conditions and in a simulated Mars environment, using dedicated facilities. The SPDS functionalities and performances were measured and evaluated. In the course of 2011 the SPDS Dosing Station (part of the PSDDS) was also tested in simulated Mars gravity conditions during a parabolic flight campaign. By the time of the conference, an elegant breadboard of the Powder Sample Handling System will have been built and tested. The next step, planned by mid of 2012, will be a complete end-to-end test of the sample handling and processing chain, combining all four SPDS mechanisms. The possibility to verify interface and operational aspects between the SPDS and the ALD scientific instruments using the available instruments breadboards with the end-to-end set-up is currently being evaluated. This paper illustrates the most recent design status of the SPDS mechanisms, summarizes the test results and highlights future development

Quantitative analysis of digital outcrop data obtained from stereo-imagery using an emulator for the PanCam camera system for the ExoMars 2020 rover

NASA Astrophysics Data System (ADS)

Barnes, Robert; Gupta, Sanjeev; Gunn, Matt; Paar, Gerhard; Balme, Matt; Huber, Ben; Bauer, Arnold; Furya, Komyo; Caballo-Perucha, Maria del Pilar; Traxler, Chris; Hesina, Gerd; Ortner, Thomas; Banham, Steven; Harris, Jennifer; Muller, Jan-Peter; Tao, Yu

2017-04-01

position can be measured to aid prioritisation of science targeting. Where grains or rocks are present and visible, their dimensions can be measured. Interpretation of the sedimentological features of the outcrops has also been carried out. OPCs created from stereo imagery collected in the Hanskville-Burpee Quarry showed a general coarsening-up succession with a red, well-layered mudstone overlain by stacked layers of irregular thickness and medium-coarse to pebbly sandstone layers. Cross beds/laminations, and lenses of finer sandstone were common. These features provide valuable information on their depositional environment. Development of Pro3D in preparation for application to the ExoMars 2020 and NASA 2020 missions will be centred on validation of the data and measurements. Collection of in-situ field data by a human geologist allows for direct comparison of viewer-derived measurements with those taken in the field. The research leading to these results has received funding from the UK Space Agency Aurora programme and the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement n° 312377 PRoViDE, ESA PRODEX Contracts 4000105568 "ExoMars PanCam 3D Vision" and 4000116566 "Mars 2020 Mastcam-Z 3D Vision".

Status of the ExoMars Project

NASA Astrophysics Data System (ADS)

Kminek, Gerhard; Vago, Jorge; Gianfiglio, Giacinto; Haldemann, Albert; Elfving, Anders; Pinel, Jacques; McCoy, Don

The ExoMars mission will deploy two science elements on the Martian surface: a rover and a small, fixed package. The fixed Humboldt science package, will measure planetary geophysics parameters important for understanding Mars's evolution and habitability, identify possible surface hazards to future human missions, and study the environment. The Rover Pasteur science package will search for signs of past and present life on Mars, and characterise the water and geochemical environment with depth by collecting and analysing subsurface samples down to 2 meters. The very powerful combination of surface mobility and subsurface access to locations where organic molecules may be well-preserved is unique to this mission. ExoMars is currently in Phase B prior to PDR. This presentation will provide an update on the project status, including instrument and technology developments.

Preparations for ExoMars: Learning Lessons from Curiosity

NASA Astrophysics Data System (ADS)

Edwards, Peter Henry; Hutchinson, Ian; Morgan, Sally; McHugh, Melissa; Malherbe, Cedric; Lerman, Hannah; INGLEY, Richard

2016-10-01

In 2020, the European Space Agency will launch its first Mars rover mission, ExoMars. The rover will use a drill to obtain samples from up to 2m below the Martian surface that will then be analysed using a variety of analytical instruments, including the Raman Laser Spectrometer (RLS), which will be the first Raman spectrometer to be used on a planetary mission.To prepare for ExoMars RLS operations, we report on a series of experiments that have been performed in order to investigate the response of a representative Raman instrument to a number of analogue samples (selected based on the types of material known to be important, following investigations performed by NASA's Mars Science Laboratory, MSL, on the Curiosity rover). Raman spectroscopy will provide molecular and mineralogical information about the samples obtained from the drill cores on ExoMars. MSL acquires similar information using the CheMin XRD instrument which analyses samples acquired from drill holes several centimetres deep. Like Raman spectroscopy, XRD also provides information on the mineralogical makeup of the analysed samples.The samples in our study were selected based on CheMin data obtained from drill sites at Yellowknife Bay, one of the first locations visited by Curiosity (supplemented with additional fine scale elemental information obtained with the ChemCam LIBS laser instrument). Once selected (or produced), the samples were characterised using standard laboratory XRD and XRF instruments (in order to compare with the data obtained by CheMin) and a standard, laboratory based LIBS system (in order to compare with the ChemCam data). This characterisation provides confirmation that the analogue samples are representative of the materials likely to be encountered on Mars by the ExoMars rover.A representative, miniaturised Raman spectrometer was used to analyse the samples, using acquisition strategies and operating modes similar to those expected for the ExoMars instrument. The type of

ExoMars Entry, Descent, and Landing Science

NASA Astrophysics Data System (ADS)

Karatekin, Özgür; Forget, Francois; Withers, Paul; Colombatti, Giacomo; Aboudan, Alessio; Lewis, Stephen; Ferri, Francesca; Van Hove, Bart; Gerbal, Nicolas

2016-07-01

Schiaparelli, the Entry Demonstrator Module (EDM) of the ESA ExoMars Program will to land on Mars on 19th October 2016. The ExoMars Atmospheric Mars Entry and Landing Investigations and Analysis (AMELIA) team seeks to exploit the Entry Descent and Landing (EDL) engineering measurements of Schiaparelli for scientific investigations of Mars' atmosphere and surface. ExoMars offers a rare opportunity to perform an in situ investigation of the martian environment over a wide altitude range. There has been only 7 successfully landing on the surface of Mars, from the Viking probes in the 1970's to the Mars Science Laboratory (MSL) in 2012. ExoMars EDM is equipped with an instrumented heat shield like MSL. These novel flight sensors complement conventional accelerometer and gyroscope instrumentation, and provide additional information to reconstruct atmospheric conditions with. This abstract outlines general atmospheric reconstruction methodology using complementary set of sensors and in particular the use of surface pressure and radio data. In addition, we discuss the lessons learned from previous EDL and the plans for ExoMars AMELIA data analysis.

Raman spectroscopic analysis of geological and biogeological specimens of relevance to the ExoMars mission.

PubMed

Edwards, Howell G M; Hutchinson, Ian B; Ingley, Richard; Parnell, John; Vítek, Petr; Jehlička, Jan

2013-06-01

A novel miniaturized Raman spectrometer is scheduled to fly as part of the analytical instrumentation package on an ESA remote robotic lander in the ESA/Roscosmos ExoMars mission to search for evidence for extant or extinct life on Mars in 2018. The Raman spectrometer will be part of the first-pass analytical stage of the sampling procedure, following detailed surface examination by the PanCam scanning camera unit on the ExoMars rover vehicle. The requirements of the analytical protocol are stringent and critical; this study represents a laboratory blind interrogation of specimens that form a list of materials that are of relevance to martian exploration and at this stage simulates a test of current laboratory instrumentation to highlight the Raman technique strengths and possible weaknesses that may be encountered in practice on the martian surface and from which future studies could be formulated. In this preliminary exercise, some 10 samples that are considered terrestrial representatives of the mineralogy and possible biogeologically modified structures that may be identified on Mars have been examined with Raman spectroscopy, and conclusions have been drawn about the viability of the unambiguous spectral identification of biomolecular life signatures. It is concluded that the Raman spectroscopic technique does indeed demonstrate the capability to identify biomolecular signatures and the mineralogy in real-world terrestrial samples with a very high degree of success without any preconception being made about their origin and classification.

SPICE for ESA Planetary Missions

NASA Astrophysics Data System (ADS)

Costa, M.

2017-09-01

SPICE is an information system that provides the geometry needed to plan scientific observations and to analyze the obtained. The ESA SPICE Service generates the SPICE Kernel datasets for missions in all the active ESA Missions. This contribution describes the current status of the datasets, the extended services and the SPICE support provided to the ESA Planetary Missions (Mars-Express, ExoMars2016, BepiColombo, JUICE, Rosetta, Venus-Express and SMART-1) for the benefit of the science community.

ExoMars Trace Gas Orbiter (TGO) Science Ground Segment (SGS)

NASA Astrophysics Data System (ADS)

Metcalfe, L.; Aberasturi, M.; Alonso, E.; Álvarez, R.; Ashman, M.; Barbarisi, I.; Brumfitt, J.; Cardesín, A.; Coia, D.; Costa, M.; Fernández, R.; Frew, D.; Gallegos, J.; García Beteta, J. J.; Geiger, B.; Heather, D.; Lim, T.; Martin, P.; Muñoz Crego, C.; Muñoz Fernandez, M.; Villacorta, A.; Svedhem, H.

2018-06-01

The ExoMars Trace Gas Orbiter (TGO) Science Ground Segment (SGS), comprised of payload Instrument Team, ESA and Russian operational centres, is responsible for planning the science operations of the TGO mission and for the generation and archiving of the scientific data products to levels meeting the scientific aims and criteria specified by the ESA Project Scientist as advised by the Science Working Team (SWT). The ExoMars SGS builds extensively upon tools and experience acquired through earlier ESA planetary missions like Mars and Venus Express, and Rosetta, but also is breaking ground in various respects toward the science operations of future missions like BepiColombo or JUICE. A productive interaction with the Russian partners in the mission facilitates broad and effective collaboration. This paper describes the global organisation and operation of the SGS, with reference to its principal systems, interfaces and operational processes.

Indicators and Methods to Understand Past Environments from ExoMars Rover Drills

NASA Astrophysics Data System (ADS)

Kereszturi, A.; Bradak, B.; Chatzitheodoridis, E.; Ujvari, G.

2016-11-01

Great advances are expected during the analysis of drilled material acquired from 2 m depth by ExoMars rover, supported by the comparison to local context, and the joint use of different instruments. Textural information might be less detailed relatively to what is usually obtained at outcrops during classical geological field work on the Earth, partly because of the lack of optical imaging of the borehole wall and also because the collected samples are crushed. However sub-mm scale layering and some other sedimentary features might be identified in the borehole wall observations, or in the collected sample prior to crushing, and also at nearby outcrops. The candidate landing sites provide different targets and focus for research: Oxia Planum requires analysis of phyllosilicates and OH content, at Mawrth Vallis the layering of various phyllosilicates and the role of shallow-subsurface leaching should be emphasized. At Aram Dorsum the particle size and fluvial sedimentary features will be interesting. Hydrated perchlorates and sulphates are ideal targets possibly at every landing sites because of OH retention, especially if they are mixed with smectites, thus could point to even ancient wet periods. Extensive use of information from the infrared wall scanning will be complemented for geological context by orbital and rover imaging of nearby outcrops. Information from the context is especially useful to infer the possible action of past H2O. Separation of the ice and liquid water effects will be supported by cation abundance and sedimentary context. Shape of grains also helps here, and composition of transported grains points to the weathering potential of the environment in general. The work on Mars during the drilling and sample analysis will provide brand new experience and knowledge for future missions.

Indicators and Methods to Understand Past Environments from ExoMars Rover Drills.

PubMed

Kereszturi, A; Bradak, B; Chatzitheodoridis, E; Ujvari, G

2016-11-01

Great advances are expected during the analysis of drilled material acquired from 2 m depth by ExoMars rover, supported by the comparison to local context, and the joint use of different instruments. Textural information might be less detailed relatively to what is usually obtained at outcrops during classical geological field work on the Earth, partly because of the lack of optical imaging of the borehole wall and also because the collected samples are crushed. However sub-mm scale layering and some other sedimentary features might be identified in the borehole wall observations, or in the collected sample prior to crushing, and also at nearby outcrops. The candidate landing sites provide different targets and focus for research: Oxia Planum requires analysis of phyllosilicates and OH content, at Mawrth Vallis the layering of various phyllosilicates and the role of shallow-subsurface leaching should be emphasized. At Aram Dorsum the particle size and fluvial sedimentary features will be interesting. Hydrated perchlorates and sulphates are ideal targets possibly at every landing sites because of OH retention, especially if they are mixed with smectites, thus could point to even ancient wet periods. Extensive use of information from the infrared wall scanning will be complemented for geological context by orbital and rover imaging of nearby outcrops. Information from the context is especially useful to infer the possible action of past H 2 O. Separation of the ice and liquid water effects will be supported by cation abundance and sedimentary context. Shape of grains also helps here, and composition of transported grains points to the weathering potential of the environment in general. The work on Mars during the drilling and sample analysis will provide brand new experience and knowledge for future missions.

Raman Spectroscopic Analysis of Geological and Biogeological Specimens of Relevance to the ExoMars Mission

PubMed Central

Edwards, Howell G.M.; Ingley, Richard; Parnell, John; Vítek, Petr; Jehlička, Jan

2013-01-01

Abstract A novel miniaturized Raman spectrometer is scheduled to fly as part of the analytical instrumentation package on an ESA remote robotic lander in the ESA/Roscosmos ExoMars mission to search for evidence for extant or extinct life on Mars in 2018. The Raman spectrometer will be part of the first-pass analytical stage of the sampling procedure, following detailed surface examination by the PanCam scanning camera unit on the ExoMars rover vehicle. The requirements of the analytical protocol are stringent and critical; this study represents a laboratory blind interrogation of specimens that form a list of materials that are of relevance to martian exploration and at this stage simulates a test of current laboratory instrumentation to highlight the Raman technique strengths and possible weaknesses that may be encountered in practice on the martian surface and from which future studies could be formulated. In this preliminary exercise, some 10 samples that are considered terrestrial representatives of the mineralogy and possible biogeologically modified structures that may be identified on Mars have been examined with Raman spectroscopy, and conclusions have been drawn about the viability of the unambiguous spectral identification of biomolecular life signatures. It is concluded that the Raman spectroscopic technique does indeed demonstrate the capability to identify biomolecular signatures and the mineralogy in real-world terrestrial samples with a very high degree of success without any preconception being made about their origin and classification. Key Words: Biosignatures—Mars Exploration Rovers—Raman spectroscopy—Search for life (biosignatures)—Planetary instrumentation. Astrobiology 13, 543–549. PMID:23758166

WISDOM GPR aboard the ExoMars rover : a powerful instrument to investigate the state and distribution of water in the Martian shallow subsurface

NASA Astrophysics Data System (ADS)

Dorizon, S.; Ciarletti, V.; Clifford, S. M.; Plettemeier, D.

2013-12-01

The Water Ice Subsurface Deposits Observation on Mars (WISDOM) Ground Penetrating Radar (GPR) has been selected as part of the Pasteur payload for the European Space Agency (ESA) ExoMars 2018 mission. The main scientific objectives of the mission are to search for evidence of past or present life and to characterize the water/geochemical environment as a function of depth in the shallow subsurface. A rover equipped with a 2 meters capacity drill and a suite of instruments will land on Mars in 2018, collect and analyze samples from outcrops and at depth. The WISDOM GPR will support these activities by sounding the subsurface and provide understanding of the geologic context and evolution of the local environment. When operated on the ExoMars rover, WISDOM will offer the possibility to understand the 3D geology in terms of stratigraphy and structure, spatial heterogeneities as well as the compositional and electromagnetic properties of the subsurface. According to these scientific objectives, this radar has been designed as a polarimetric step frequency GPR, operating from 0.5 GHz to 3GHz, which allows the sounding of the first 3 meters of the subsurface with a vertical resolution of a few centimeters. The importance of this GPR is particularly enhanced by its ability to investigate the water content, state (ice or liquid) and distribution in the subsurface, which are crucial clues to constrain the possibility of life traces evidence. In addition, WISDOM will be operated at a distance of 30 cm above the ground. This configuration allows the monitoring of potential transient liquid water that could appear on Mars surface. Results from several laboratory tests and a campaign in alpine ice caves in Austria are consistent with the expected performances of WISDOM regarding the question of water characterization. The specific configuration of the antennas allows the retrieval of the first layer permittivity value from the surface echo, which is related to the water content

Russian contribution to the ExoMars project

NASA Astrophysics Data System (ADS)

Zelenyi, L.; Korablev, O.; Rodionov, D.; Khartov, V.; Martynov, M.; Lukyanchikov, A.

2014-04-01

The ExoMars ESA-led mission is dedicated to study of Mars and in particular its habitability. It consists of two launches, one planned in 2016 to deliver to Mars a telecommunication and science orbiter Trace Gas Orbiter (TGO) and a demonstrator of entry into the atmosphere and landing on the Mars surface, Entry, Descent and Landing Demonstrator Module (EDM). In 2018 a rover with drilling capability will be delivered to the surface of Mars. Since 2012 this mission, previously planned in cooperation with NASA is being developed in cooperation with Roscosmos. Both launches are planned with Proton-Breeze. In 2016 Russia contributes a significant part of the TGO science payload. In 2018 the landing will be provided by a joint effort capitalizing on the EDM technology. Russia contributes few science instruments for the rover, and leads the development of a long-living geophysical platform on the surface of Mars. Russian science instruments for TGO, the Atmospheric Chemistry Suite (ACS) and the Fine Resolution Epithermal Neutrons Detector (FREND) constituent a half of its scientific payload, European instrument being NOMAD for mapping and detection of trace species, and CASSIS camera for high-resolution mapping of target areas. The ACS package consists of three spectrometers covering spectral range from 0.7 to 17 μm with spectral resolving power reaching 50000. It is dedicated to studies of the composition of the Martian atmosphere and the Martian climate. FREND is a neutron detector with a collimation module, which significantly narrows the field of view of the instrument, allowing to create higher resolution maps of hydrogen-abundant regions on Mars. The spatial resolution of FREND will be ~40 km from the 400- km TGO orbit that is ~10 times better than HEND on Mars-Odyssey. Additionally, FREND includes a dosimeter module for monitoring radiation levels in orbit around Mars. In the 2018 mission, Russia takes the major responsibility of the descent module. The primary

Integrated ExoMars PanCam, Raman, and close-up imaging field tests on AMASE 2009

NASA Astrophysics Data System (ADS)

Foss Amundsen, Hans Erik; Westall, Frances; Steele, Andrew; Vago, Jorge; Schmitz, Nicole; Bauer, Arnold; Cousins, Claire; Rull, Fernando; Sansano, Antonio; Midtkandal, Ivar

2010-05-01

Arctic Mars Analog Svalbard Expedition (AMASE) uses Mars analog field sites on the Arctic islands of Svalbard (Norway) for research within astrobiology and for testing of payload instruments onboard Mars missions Mars Science Laboratory, ExoMars and Mars Sample Return. AMASE 2009 marked the seventh consecutive year of field testing. Instrument shakedowns were arranged to mimic rover operations on Mars and included the panoramic camera (PanCam), mineral- and organic chemistry sensors (Raman-LIBS) and ground penetrating radar (Wisdom) onboard ExoMars together with CheMin and SAM instruments onboard MSL and testing of sampling and caching protocols using JPĹs Fido rover. Test sites included volcanic rocks within the Bockfjord Volcanic Complex (BVC) with carbonate deposits identical to those in ALH84001 and Carboniferous sandstones and paleosols at Ismåsestranda. In view of the 2018 ExoMars mission, field models of the PanCam and Raman instruments, as well as an Olympus E410 camera having similar technical specifications to the ExoMars Close-Up Imager (CLUPI) were used in an integrated exercise to characterise the geology and habitability of the different field sites. The BVC locality consisted of volcanclastic sediments deposited on the flanks of the 1 Ma old Sverrefjell volcano. This volcano is constructed of primitive alkaline basalt with abundant mantle xenoliths. The sediments were a mixture of hyaloclastite, ash, volcanic bombs, lava detritus, and xenoliths (peridotites, granulites) deposited in a roughly laminated fashion on the slopes of the volcano. Late stage carbonate deposits were also present. The Ismåsestranda locality consisted of fine-grained sandstone deposited in a littoral environment. The sandstones were characterised by a variety of sedimentary structures reflecting a marginal marine depositional environment. They were highly variegated in colour due to diagenetic remobilisation of trace elements. PanCam made general context observations using

Raman Laser Spectrometer Development for ExoMars

NASA Astrophysics Data System (ADS)

Pérez, C.; Colombo, M.; Díaz, C.; Santamaría, P.; Ingley, R.; Parrot, Y.; Maurice, S.; Popp, J.; Tarcea, N.; Edwards, H. G. M.

2013-09-01

The Raman Laser Spectrometer is one of the Pasteur Payload instruments, within the ESA's ExoMars mission. The aim of the work presented here is to provide a summary of the instrument design and performances. For that the instrument current characteristics and performances, and its technological ass assessment program main results are presented and discussed.

Demonstration of the ExoMars sample preparation and distribution system jointly with an optical instrument head

NASA Astrophysics Data System (ADS)

Schulte, Wolfgang; Thiele, Hans; Hofmann, Peter; Baglioni, Pietro

The ExoMars program will search for past and present life on Mars. ExoMars will address important scientific goals and demonstrate key in-situ enabling technologies. Among such technologies are the acquisition, preparation, distribution and analysis of samples from Mars surface rocks and from the subsurface. The 2018 mission will land an ESA rover on Mars which carries a sample preparation and distribution system (SPDS) and a suite of analytical instruments, the Pasteur Payload with its Analytical Laboratory Drawer (ALD). Kayser-Threde GmbH (Germany) will be responsible for the SPDS as a subcontractor under the mission prime Thales Alenia Space. The SPDS comprises a number of complex mechanisms and mechanical devices designed to transport drill core samples within the rover analytical laboratory, to crush them to powder with a fine grain size, to portion discrete amounts of powdered sample material, to distribute and fill the material into sample containers and to prepare flat sample surfaces for scientific analysis. Breadboards of the crushing mechanism, the dosing mechanism and a distribution carousel with sample containers and a powder sample surface flattening mechanism were built and tested. Kayser-Threde, as a member of the Spanish led ExoMars Raman Instrument team, is also responsible for development of the Raman optical head, which will be mounted inside ALD and will inspect the crushed samples, when they are presented to the instrument by the distribution carousel. Within this activity, which is performed under contract with the Institute of Physical Chemistry of the University of Jena (Germany) and funded by the German DLR, Kayser-Threde can demonstrate Raman measurements with the optical head and a COTS laser and spectrometer and thus simulate the full Raman instrument optical path. An autofocus system with actuator and feedback optics is also part of this activity, which allows focusing the 50 m Raman spot on the surface of the powdered sample

ExoMars 2016 Status and Future Plans

NASA Astrophysics Data System (ADS)

Svedhem, Håkan; Vago, Jorge

2017-04-01

The ExoMars programme is a joint activity by the European Space Agency(ESA) and ROSCOSMOS, Russia. It consists of the ExoMars 2016 mission, launched 14 March 2016, with the Trace Gas Orbiter, TGO, and the Entry Descent and Landing Demonstrator, EDM, named Schiaparelli, and the ExoMars 2020 mission, to be launched in May 2020, carrying a lander and a rover. TGO and EDM arrived at Mars on 19 October 2016. After a nominal entry and first phase of the descent, the EDM failed at an altitude of about 4 km and fell freely to the surface, near the centre of the landing ellipse in Meridiani Planum. The communication link was maintain up until the failure and a large data set was acquired, allowing for a complete analysis of the first successful part of the mission, and an investigation of the on board anomaly leading to the failure. The TGO spacecraft was inserted into a highly elliptical 4 sol period, near equatorial, capture orbit. Two orbits in late November were dedicated to instrument calibration and initial science observations, where an excellent performance of all instruments could be confirmed. In January 2017 the orbital plane will be changed to its final inclination of 74 degrees and the period will be reduced to one Sol. Early March two orbits are scheduled for another set of instrument observations, after which a long period of aerobraking will commence. The final operational orbit, with a 2 hour period, is expected to be reached early 2018. The TGO scientific payload consists of four instruments. These are: ACS and NOMAD, both infrared spectrometers for atmospheric measurements in solar occultation mode and in nadir mode, CASSIS, a multichannel camera with stereo imaging capability, and FREND, an epithermal neutron detector for search of subsurface hydrogen. The mass of the TGO is 3700 kg, including fuel and the mass of EDM was 600 kg. The EDM was carried to Mars by the TGO and was separated three days before arrival at Mars. This presentation will cover a

Flight Mechanics of the Entry, Descent and Landing of the ExoMars Mission

NASA Technical Reports Server (NTRS)

HayaRamos, Rodrigo; Boneti, Davide

2007-01-01

ExoMars is ESA's current mission to planet Mars. A high mobility rover and a fixed station will be deployed on the surface of Mars. This paper regards the flight mechanics of the Entry, Descent and Landing (EDL) phases used for the mission analysis and design of the Baseline and back-up scenarios of the mission. The EDL concept is based on a ballistic entry, followed by a descent under parachutes and inflatable devices (airbags) for landing. The mission analysis and design is driven by the flexibility in terms of landing site, arrival dates and the very stringent requirement in terms of landing accuracy. The challenging requirements currently imposed to the mission need innovative analysis and design techniques to support system design trade-offs to cope with the variability in entry conditions. The concept of the Global Entry Corridor has been conceived, designed, implemented and successfully validated as a key tool to provide a global picture of the mission capabilities in terms of landing site reachability.

Bringing Terramechanics to bear on Planetary Rover Design

NASA Astrophysics Data System (ADS)

Richter, L.

2007-08-01

Thus far, planetary rovers have been successfully operated on the Earth's moon and on Mars. In particular, the two NASA Mars Exploration Rovers (MERs) ,Spirit' and ,Opportunity' are still in sustained daily operations at two sites on Mars more than 3 years after landing there. Currently, several new planetary rover missions are in development targeting Mars (the US Mars Science Lab vehicle for launch in 2009 and ESA's ExoMars rover for launch in 2013), with lunar rover missions under study by China and Japan for launches around 2012. Moreover, the US Constellation program is preparing pre-development of lunar rovers for initially unmanned and, subsequently, human missions to the Moon with a corresponding team dedicated to mobility system development having been set up at the NASA Glenn Research Center. Given this dynamic environment, it was found timely to establish an expert group on off-the-road mobility as relevant for robotic vehicles that would involve individuals representing the various on-going efforts on the different continents. This was realized through the International Society of Terrain-Vehicle Systems (ISTVS), a research organisation devoted to terramechanics and to the ,science' of off-the-road vehicle development which as a result is just now establishing a Technical Group on Terrestrial and Planetary Rovers. Members represent space-related as well as military research institutes and universities from the US, Germany, Italy, and Japan. The group's charter for 2007 is to define its objectives, functions, organizational structure and recommended research objectives to support planetary rover design and development. Expected areas of activity of the ISTVS-sponsored group include: the problem of terrain specification for planetary rovers; identification of limitations in modelling of rover mobility; a survey of existing rover mobility testbeds; the consolidation of mobility predictive models and their state of validation; sensing and real

Planetary protection and Mars: requirements and constraints on the 2016 and 2018 missions, and beyond

NASA Astrophysics Data System (ADS)

Rummel, J.; Kminek, G.; Conley, C.

2011-10-01

The suite of missions being planned currently by NASA and ESA as a partnership under the name "ExoMars" include an orbiter and an entry, descent, and landing demonstrator module (EDM) for the 2016 "ExoMars Trace Gas Orbiter" mission (ExoMars TGO), as well as a highly capable rover to be launched in 2018 to address the original ExoMars objectives (including the Pasteur payload). This 2018 ExoMars rover is expected to begin a series of missions leading to the first sample return mission from Mars, also conducted jointly between NASA, ESA, and their partners (JMSR). Each of these missions and mission components has a role in enabling future Mars exploration, including the search for life or life-related compounds on Mars, and each of them has the potential to carry confounding biological and organic materials into sensitive environments on Mars. Accordingly, this suite of missions will be subjected to joint planetary protection requirements applied by both ESA and NASA to their respective components, according to the COSPAR-delineated planetary protection policy to protect Mars from contamination, and eventually to provide for the protection of the Earth from potential life returned in a martian sample. This paper will discuss the challenges ahead for mission designers and the mission science teams, and will outline some of the potential pitfalls involved with different mission options.

In situ characterization of martian materials and detection of organic compounds with the MOMA investigation onboard the ExoMars rover

NASA Astrophysics Data System (ADS)

Arevalo, R. D., Jr.; Grubisic, A.; van Amerom, F. H. W.; Danell, R.; Li, X.; Kaplan, D.; Pinnick, V. T.; Brinckerhoff, W. B.; Getty, S.; Goesmann, F.

2017-12-01

Ground-based observations (e.g., via the NASA Infrared Telescope Facility) and in situ investigations, including flybys (e.g., Mariner Program), orbiters (most recently MAVEN and ExoMars TGO), stationary landers (i.e., Viking, Pathfinder and Phoenix), and mobile rovers (i.e., Sojourner, Spirit/Opportunity and Curiosity), have enabled the progressive exploration of the Martian surface. Evidence for liquid water, manifest as hydrated and amorphous materials representative of alteration products of primary minerals/lithologies, and geomorphological features such as recurring slope lineae (RSL), valley networks and open-basin lakes, indicates that Mars may have hosted habitable environments, at least on local scales (temporally and spatially). However, the preservation potential of molecular biosignatures in the upper meter(s) of the surface is limited by destructive cosmic radiation and oxidative chemical reactions. Moreover, the determination of indigenous versus exogenous origins, and biotic versus abiotic formation mechanisms of detected organic material, provide additional challenges for future missions to the red planet. The Mars Organic Molecule Analyzer (MOMA) onboard the ExoMars rover, set to launch in 2020, provides an unprecedented opportunity to discover unambiguous indicators of life. The MOMA instrument will investigate the compositions of materials collected during multiple vertical surveys, extending as deep as two meters below the surface, via: i) gas chromatography mass spectrometry, a method geared towards the detection of volatile organics and the determination of molecular chirality, mapping to previous in situ Mars investigations; and, ii) laser desorption mass spectrometry, a technique commonly employed in research laboratories to detect larger, more refractory organic materials, but a first for spaceflight applications. Selective ion excitation and tandem mass spectrometry (MS/MS) techniques support the isolation and disambiguation of complex

Performance of the Linear Ion Trap Mass Spectrometer for the Mars Organic Molecule Analyzer (MOMA) Investigation on the 2018 Exomars Rover

NASA Technical Reports Server (NTRS)

Arevalo, Ricardo, Jr.; Brinckerhoff, William B.; Pinnick, Veronica T.; van Amerom, Friso H. W.; Danell, Ryan M.; Li, Xiang; Getty, Stephanie; Hovmand, Lars; Atanassova, Martina; Mahaffy, Paul R.;

Science Planning Implementation and Challenges for the ExoMars Trace Gas Orbiter

NASA Astrophysics Data System (ADS)

Ashman, Mike; Cardesin Moinelo, Alejandro; Frew, David; Garcia Beteta, Juan Jose; Geiger, Bernhard; Metcalfe, Leo; Muñoz, Michela; Nespoli, Federico

2018-05-01

The ExoMars Science Operations Centre (SOC) is located at ESA's European Space Astronomy Centre (ESAC) in Madrid, Spain and is responsible for coordinating the science planning activities for TGO in order to optimize the scientific return of the mission. The SOC constructs, in accordance with Science Working Team (SWT) science priorities, and in coordination with the PI science teams and ESA's Mission Operations Centre (MOC), a plan of scientific observations and delivers conflict free operational products for uplink and execution on-board. To achieve this, the SOC employs a planning concept based on Long, Medium and Short Term planning cycles. Long Term planning covers mission segments of several months and is conducted many months prior to execution. Its goal is to establish a feasible science observation strategy given the science priorities and the expected mission profile. Medium Term planning covers a 1 month mission segment and is conducted from 3 to 2 months prior to execution whilst Short Term planning covers a 1 week segment and is conducted from 2 weeks to 1 week prior to execution. The goals of Medium and Short Term planning are to operationally instantiate and validate the Long Term plan such that the SOC may deliver to MOC a conflict free spacecraft pointing profile request (a Medium Term planning deliverable), and the final instrument telecommanding products (a Short Term planning deliverable) such that the science plan is achieved and all operational constraints are met. With a 2 hour-400km science orbit, the vast number of solar occultation, nadir measurement, and surface imaging opportunities, combined with additional mission constraints such as the necessary provision of TGO communication slots to support the ExoMars 2020 Rover & Surface Platform mission and NASA surface assets, creates a science planning task of considerable magnitude and complexity. In this paper, we detail how the SOC is developing and implementing the necessary planning

Influence of the Exomars 2016 lander elements in the uncertainty of irradiance measurements for the dreams-SIS instrument.

NASA Astrophysics Data System (ADS)

Alvarez-Ríos, F. J.; Jiménez, J. J.; Apestigue, V.; Arruego, I.; Martin, I.; Sanchez-Brea, L. M.

2017-09-01

DREAMS SIS is an optical radiometer that will provide measurement of the sun irradiance on the Mars surface [1],[2],[3]. The instrument will be on board as payload of the EDM, (Entry and Descend module) of EXOMARS 2016 ESA [4] mission showed in Fig. 1a. (Courtesy of ESA).

The ExoMars PanCam Instrument

NASA Astrophysics Data System (ADS)

Griffiths, Andrew; Coates, Andrew; Muller, Jan-Peter; Jaumann, Ralf; Josset, Jean-Luc; Paar, Gerhard; Barnes, David

2010-05-01

The ExoMars mission has evolved into a joint European-US mission to deliver a trace gas orbiter and a pair of rovers to Mars in 2016 and 2018 respectively. The European rover will carry the Pasteur exobiology payload including the 1.56 kg Panoramic Camera. PanCam will provide multispectral stereo images with 34 deg horizontal field-of-view (580 microrad/pixel) Wide-Angle Cameras (WAC) and (83 microrad/pixel) colour monoscopic "zoom" images with 5 deg horizontal field-of-view High Resolution Camera (HRC). The stereo Wide Angle Cameras (WAC) are based on Beagle 2 Stereo Camera System heritage [1]. Integrated with the WACs and HRC into the PanCam optical bench (which helps the instrument meet its planetary protection requirements) is the PanCam interface unit (PIU); which provides image storage, a Spacewire interface to the rover and DC-DC power conversion. The Panoramic Camera instrument is designed to fulfil the digital terrain mapping requirements of the mission [2] as well as providing multispectral geological imaging, colour and stereo panoramic images and solar images for water vapour abundance and dust optical depth measurements. The High Resolution Camera (HRC) can be used for high resolution imaging of interesting targets detected in the WAC panoramas and of inaccessible locations on crater or valley walls. Additionally HRC will be used to observe retrieved subsurface samples before ingestion into the rest of the Pasteur payload. In short, PanCam provides the overview and context for the ExoMars experiment locations, required to enable the exobiology aims of the mission. In addition to these baseline capabilities further enhancements are possible to PanCam to enhance it's effectiveness for astrobiology and planetary exploration: 1. Rover Inspection Mirror (RIM) 2. Organics Detection by Fluorescence Excitation (ODFE) LEDs [3-6] 3. UVIS broadband UV Flux and Opacity Determination (UVFOD) photodiode This paper will discuss the scientific objectives and resource

Mesoscale modeling of the water vapor cycle at Mawrth Vallis: a Mars2020 and ExoMars exploration rovers high-priority landing site

NASA Astrophysics Data System (ADS)

Pla-García, Jorge

2017-04-01

Introduction: The Mars Regional Atmospheric Modeling System (MRAMS) was used to predict meteorological conditions that are likely to be encountered by the Mars 2020 (NASA) Rover at several of their respective proposed landing sites during entry, descent, and landing at Ls5 [1] and by the ExoMars (ESA) Rover at one of the final landing sites. MRAMS is ideally suited for this type of investigation; the model is explicitly designed to simu-late Mars' atmospheric circulations at the mesoscale and smaller with realistic, high-resolution surface proper-ties [2, 3]. One of the sights studied for both rovers was Mawrth Vallis (MV), an ancient water outflow channel with light colored clay-rich rocks in the mid-latitude north hemisphere (Oxia Palus quadrangle). MV is the northernmost of the Mars2020 and ExoMars landing sites and the closest to the northern polar cap water source. The primary source of water vapor to the atmosphere is the northern polar cap during the northern summer. In order to highlight MV habitability implications, additional numerical experiments at Ls90, 140 and 180, highest column abundance of water vapor is found over MV [4], were performed to study how the atmospheric circulation connects MV with the polar water source. Once the winter CO2 retreats, the underlying polar water ice is exposed and begins to sublimate. The water is transported equatorward where it is manifested in the tropical aphelion cloud belt. If transport is assumed to be the result of the summer Hadley Cell, then the polar water is carried aloft in the northern high latitude rising branch before moving equatorward and eventually toward the southern high latitudes. Thus, the mean meridional summer circulation precludes a direct water vapor connection between MV and the polar source. Around the equinoxes (Ls0 and Ls180), there is a brief transition period where the rising branch quickly crosses from one hemisphere into the other as it migrates to its more typical solstitial location

Raman Laser Spectrometer for 2020 ExoMars

NASA Astrophysics Data System (ADS)

Moral, Andoni G.; Pérez, Carlos; INTA, University of Valladolid, INSA, Leicester University, IRAP, RAL, OHB

2016-10-01

The Raman Laser Spectrometer (RLS) is one of the Pasteur Payload instruments, within the ESA's Aurora Exploration Programme, ExoMars mission.ExoMars 2020 main scientific objective is "Searching for evidence of past and present life on Mars".Raman Spectroscopy is used to analyze the vibrational modes of a substance either in the solid, liquid or gas state. It relies on the inelastic scattering (Raman Scattering) of monochromatic light produced by atoms and molecules. The radiation-matter interaction results in the energy of the exciting photons to be shifted up or down. The shift in energy appears as a spectral distribution and therefore provides an unique fingerprint by which the substances can be identified and structurally analyzed.The RLS is being developed by an European Consortium composed by Spanish, UK, French and German partners. It will perform Raman spectroscopy on crushed powdered samples, obtained from 2 meters depth under Mars surface, inside the Rover's Analytical Laboratory Drawer.After a wide campaign for evaluating Instrument performances by means of simulation tools and development of an instrument prototype, Instrument Structural and Thermal Model was successfully delivered on February 2015, and the Engineering and Qualification Model has been manufactured and is expected to be delivered by November 2016, after a testing campaign developed during Q2 & Q3 of 2016.A summary of main Instrument performances obtained during the last months, achieving high levels of spectral resolution and accuracy in the obtained spectra.

Exomars mission description and architecture

NASA Astrophysics Data System (ADS)

Giorgio, Vincenzo; Cassi, Carlo; Santoro, Pasquale

Msftedit 5.41.15.1507; INTRODUCTION ExoMars is the first mission of the ESA Exploration Programme. It will demonstrate flight and in-situ verification of key exploration enabling technologies to support the European ambitions for future human exploration missions. The main technology demonstration objectives are: Entry, Descent and Landing (EDL) of a large payload on the surface of Mars, Surface mobility via a Rover having several kilometres of mobility range, Access to sub-surface via a Drill to acquire samples down to 2 meters, Automatic sample preparation and distribution for analyses of scientific experiments. In parallel, important scientific objectives will be accomplished through a state-of-the art scientific payload. The ExoMars scientific objectives, in order of priority, are: The search for traces of past and present life, To characterise the water/geochemical environment as a function of depth in the shallow subsurface; To study the surface environment and identify hazards to future human missions; To investigate the planet's subsurface and deep interior to better understand the evolution and habitability of Mars. mission scenario The combinations of the above constraints and other considerations have recently led to a re-definition of the baseline mission that can be summarised as follows: Launch date: Dec 2013 Spacecraft Composite: Carrier + Descent Module Launcher: Ariane 5 from Kourou (back-up Proton from Baikonur) Descent Module released from Mars orbit Courier Module expendable (crash on Mars) Landing between 5° South and 34 ° North Descent Module landing configuration with vented airbags Data relay function provided by a NASA spacecraft. This scenario has been named enhanced baseline, as it basically responds to the need of increasing the payload mass (larger DM mass) and improving the landing accuracy to meet a semi-major axis of the landing error ellipse, downrange of the nominal landing site, of 50 km (3σ) which proved to be unfeasible with

Urey onboard Exomars: Searching for life on Mars

NASA Astrophysics Data System (ADS)

Bada, J.; Ehrenfreund, P.; Grunthaner, F.; Sephton, M.; Urey Team

2009-04-01

Exomars is currently under development as the flagship mission of ESA's exploration program Aurora. A fundamental challenge ahead for the Exomars mission is to search for extinct and extant life. The Urey instrument (Mars Organic and Oxidant Detector) has been selected for the Pasteur payload and is considered a key instrument to achieve the mission's scientific objectives. Urey can detect organic compounds at unprecedented sensitivity of part-per-trillions in the Martian regolith. The instrument will target several key classes of organic molecules such as amino acids, nucleobases, amines and amino sugars and polycyclic aromatic hydrocrabon (PAHs) using state-of-the-art analytical methods. Chemoresistor oxidant sensors will provide complementary measurements by simultaneously evaluating the survival potential of organic compounds in the environment. The Urey instrument concept has tremendous future applications in Mars and Moon exploration in the framework of life detection and planetary protection.

An X-Ray Diffractometer for Mineralogical Analysis of Exomars Mission

NASA Astrophysics Data System (ADS)

Marinangeli, L.; Baliva, A.; Critani, F.; Stevoli, A.; Scandelli, L.; Holland, A.; Hutchinson, I.; Nelms, N.; Delhez, R.

2006-12-01

The new results of the Mars Exploration Rovers and the Mars Express mission outline the importance of a correct assessment of the variety of geological contexts to understand the evolution of a habitable environment. The need of having complex scientific payload to perform a broad range of in situ measurements is a necessary step for a successful exobiological exploration. Furthermore, the compositional analysis of the surface samples is of fundamental importance to characterize the geological environments where life could have arisen and their evolution through time. In the last years, there has been a strong interest in Europe to develop a x-ray diffractometer (XRD) for mineralogical analyses of planetary surfaces. The identification of minerals using the diffraction technique is based on the x-ray interference with the geometrical parameters of the crystal lattice allowing an unequivocal recognition of different minerals. An US XRD instrument, CHEMIN, will flight for the first time in the NASA Mars Science Laboratory in 2009. An European XRD design has also been selected for the Pasteur Payload of the ESA ExoMars mission, planned for 2011. The proposed instrument is a miniaturised concept (1 kg) configured in a reflection geometry and will allow the identification of a large spectrum of minerals including those related to the presence of water, key element for the development of life. The complete mineralogical analysis will be performed on very small quantities of powder rock samples, thought analysis of pristine (no grinded) sample can also be achieved with the reflection configuration. Information on the elemental composition of the sample can be roughly estimated by the analysis of the x-ray fluorescence spectrum simultaneously acquired by the detection system. In order to demonstrate the instrument technological readiness for the ExoMars mission, the construction of a demonstrative prototype is on going with ESA funding. Preliminary result of the scientific

Potential Biosignatures Visualization with the Close-Up Imager CLUPI for EXOMARS

NASA Astrophysics Data System (ADS)

Josset, J. L.; Westall, F.; Hofmann, B. A.; Beauvivre, S.

The CLose-UP Imager CLUPI imaging experiment will be designed to obtain high-resolution colour and stereo images of rocks from the ExoMars rover Pasteur payload The close-up imager is a robotic equivalent of one of the most useful instruments of the field geologist the hand lens Imaging of surfaces of rocks soils and wind drift deposits is crucial for the understanding of the geological context of any site where the Pasteur rover will be active on Mars The purpose of the Close-up imager is to look an area of about 4 cm x 4 cm of the rocks at a focus distance of 10 cm With a resolution of approx 35 micrometer pixel many kinds of rock surface and internal structures can be visualized crystals in igneous rocks fracture mineralization secondary minerals details of the surface morphology sediment components sedimentary structures soil particles It is conceivable that even textures resulting from ancient biological activity can be seen such as fine lamination due to microbial mats stromatolites and textures resulting from colonies of filamentous microbes CLUPI is a powerful highly integrated miniaturized low-power robust imaging system with no mobile part able to operate at very low temperature -120oC The opto-mechanical interfaces will be a smart assembly in titanium sustaining wide temperature range The concept benefits from well-proven heritage Proba Rosetta MarsExpress and Smart-1 missions The close-up imager CLUPI on the ExoMars Rover will be described together with its capabilities to provide important information significantly

Supporting lander and rover operation: a novel super-resolution restoration technique

NASA Astrophysics Data System (ADS)

Tao, Yu; Muller, Jan-Peter

2015-04-01

Higher resolution imaging data is always desirable to critical rover engineering operations, such as landing site selection, path planning, and optical localisation. For current Mars missions, 25cm HiRISE images have been widely used by the MER & MSL engineering team for rover path planning and location registration/adjustment. However, 25cm is not high enough resolution to be able to view individual rocks (≤2m in size) or visualise the types of sedimentary features that rover onboard cameras might observe. Nevertheless, due to various physical constraints (e.g. telescope size and mass) from the imaging instruments themselves, one needs to be able to tradeoff spatial resolution and bandwidth. This means that future imaging systems are likely to be limited to resolve features larger than 25cm. We have developed a novel super-resolution algorithm/pipeline to be able to restore higher resolution image from the non-redundant sub-pixel information contained in multiple lower resolution raw images [Tao & Muller 2015]. We will demonstrate with experiments performed using 5-10 overlapped 25cm HiRISE images for MER-A, MER-B & MSL to resolve 5-10cm super resolution images that can be directly compared to rover imagery at a range of 5 metres from the rover cameras but in our case can be used to visualise features many kilometres away from the actual rover traverse. We will demonstrate how these super-resolution images together with image understanding software can be used to quantify rock size-frequency distributions as well as measure sedimentary rock layers for several critical sites for comparison with rover orthorectified image mosaic to demonstrate optimality of using our super-resolution resolved image to better support future lander and rover operation in future. We present the potential of super-resolution for virtual exploration to the ˜400 HiRISE areas which have been viewed 5 or more times and the potential application of this technique to all of the ESA ExoMars

The New Planetary Science Archive (PSA): Exploration and Discovery of Scientific Datasets from ESA's Planetary Missions

NASA Astrophysics Data System (ADS)

Heather, David; Besse, Sebastien; Vallat, Claire; Barbarisi, Isa; Arviset, Christophe; De Marchi, Guido; Barthelemy, Maud; Coia, Daniela; Costa, Marc; Docasal, Ruben; Fraga, Diego; Grotheer, Emmanuel; Lim, Tanya; MacFarlane, Alan; Martinez, Santa; Rios, Carlos; Vallejo, Fran; Saiz, Jaime

2017-04-01

The Planetary Science Archive (PSA) is the European Space Agency's (ESA) repository of science data from all planetary science and exploration missions. The PSA provides access to scientific datasets through various interfaces at http://psa.esa.int. All datasets are scientifically peer-reviewed by independent scientists, and are compliant with the Planetary Data System (PDS) standards. The PSA is currently implementing a number of significant improvements, mostly driven by the evolution of the PDS standard, and the growing need for better interfaces and advanced applications to support science exploitation. As of the end of 2016, the PSA is hosting data from all of ESA's planetary missions. This includes ESA's first planetary mission Giotto that encountered comet 1P/Halley in 1986 with a flyby at 800km. Science data from Venus Express, Mars Express, Huygens and the SMART-1 mission are also all available at the PSA. The PSA also contains all science data from Rosetta, which explored comet 67P/Churyumov-Gerasimenko and asteroids Steins and Lutetia. The year 2016 has seen the arrival of the ExoMars 2016 data in the archive. In the upcoming years, at least three new projects are foreseen to be fully archived at the PSA. The BepiColombo mission is scheduled for launch in 2018. Following that, the ExoMars Rover Surface Platform (RSP) in 2020, and then the JUpiter ICy moon Explorer (JUICE). All of these will archive their data in the PSA. In addition, a few ground-based support programmes are also available, especially for the Venus Express and Rosetta missions. The newly designed PSA will enhance the user experience and will significantly reduce the complexity for users to find their data promoting one-click access to the scientific datasets with more customized views when needed. This includes a better integration with Planetary GIS analysis tools and Planetary interoperability services (search and retrieve data, supporting e.g. PDAP, EPN-TAP). It will also be up

Ground Truthing Orbital Clay Mineral Observations with the APXS Onboard Mars Exploration Rover Opportunity

NASA Technical Reports Server (NTRS)

Schroeder, C.; Gellert, R.; VanBommel, S.; Clark, B. C.; Ming, D. W.; Mittlefehldt, D. S.; Yen, A. S.

2016-01-01

NASA's Mars Exploration Rover Opportunity has been exploring approximately 22 km diameter Endeavour crater since 2011. Its rim segments predate the Hesperian-age Burns formation and expose Noachian-age material, which is associated with orbital Fe3+-Mg-rich clay mineral observations [1,2]. Moving to an orders of magnitude smaller instrumental field of view on the ground, the clay minerals were challenging to pinpoint on the basis of geochemical data because they appear to be the result of near-isochemical weathering of the local bedrock [3,4]. However, the APXS revealed a more complex mineral story as fracture fills and so-called red zones appear to contain more Al-rich clay minerals [5,6], which had not been observed from orbit. These observations are important to constrain clay mineral formation processes. More detail will be added as Opportunity is heading into her 10th extended mission, during which she will investigate Noachian bedrock that predates Endeavour crater, study sedimentary rocks inside Endeavour crater, and explore a fluid-carved gully. ESA's ExoMars rover will land on Noachian-age Oxia Planum where abundant Fe3+-Mg-rich clay minerals have been observed from orbit, but the story will undoubtedly become more complex once seen from the ground.

ESA's Planetary Science Archive: Preserve and present reliable scientific data sets

NASA Astrophysics Data System (ADS)

Besse, S.; Vallat, C.; Barthelemy, M.; Coia, D.; Costa, M.; De Marchi, G.; Fraga, D.; Grotheer, E.; Heather, D.; Lim, T.; Martinez, S.; Arviset, C.; Barbarisi, I.; Docasal, R.; Macfarlane, A.; Rios, C.; Saiz, J.; Vallejo, F.

2018-01-01

The European Space Agency (ESA) Planetary Science Archive (PSA) is undergoing a significant refactoring of all its components to improve the services provided to the scientific community and the public. The PSA supports ESA's missions exploring the Solar System by archiving scientific peer-reviewed observations as well as engineering data sets. This includes the Giotto, SMART-1, Huygens, Venus Express, Mars Express, Rosetta, Exomars 2016, Exomars RSP, BepiColombo, and JUICE missions. The PSA is offering a newly designed graphical user interface which is simultaneously meant to maximize the interaction with scientific observations and also minimise the efforts needed to download these scientific observations. The PSA still offers the same services as before (i.e., FTP, documentation, helpdesk, etc.). In addition, it will support the two formats of the Planetary Data System (i.e., PDS3 and PDS4), as well as providing new ways for searching the data products with specific metadata and geometrical parameters. As well as enhanced services, the PSA will also provide new services to improve the visualisation of data products and scientific content (e.g., spectra, etc.). Together with improved access to the spacecraft engineering data sets, the PSA will provide easier access to scientific data products that will help to maximize the science return of ESA's space missions.

ExoMars Mission Analysis and Design - Launch, Cruise and Arrival Analyses

NASA Technical Reports Server (NTRS)

Cano, Juan L.; Cacciatore, Francesco

2007-01-01

ExoMars is ESA s next mission to planet Mars. The probe is aimed for launch either in 2013 or in 2016. The project is currently undergoing Phase B1 studies under ESA management and Thales Alenia Space Italia project leadership. In that context, DEIMOS Space is responsible for the Mission Analysis and Design for the interplanetary and the entry, descent and landing (EDL) activities. The present mission baseline is based on an Ariane 5 or Proton M launch in 2013 of a spacecraft Composite bearing a Carrier Module (CM) and a Descent Module (DM). A back-up option is proposed in 2016. This paper presents the current status of the interplanetary mission design from launch up to the start of the EDL phase.

ExoMars WISDOM Left-Right-Evaluation of Subsurface Features

NASA Astrophysics Data System (ADS)

Plettemeier, Dirk; Ciarletti, Valerie; Benedix, Wolf-Stefan; Clifford, Stephen; Dorizon, Sophie; Statz, Christoph

2013-04-01

The Experiment "Water Ice and Subsurface Deposit Observations on Mars" (WISDOM) is a Ground Penetrating Radar (GPR) selected to be part of the Pasteur payload on board the rover of the ExoMars2018 mission. This experiment has been designed to characterize the shallow subsurface structure of Mars. The radar is a gated step frequency system covering a frequency range from 0.5 GHz to 3 GHz. The antenna system consists of two antennas sending and receiving two orthogonal polarizations each. Its particular arrangement on the rover enables a classification, whether a scattering object is located on the left or the right hand side of the rover path. The setting and the procedure for the left-right-detection of off-track buried objects is described. The method is applied to data from laboratory, test site and field measurements. The capability of WISDOM left-right-evaluation of scatters is based on the performance of the fully polarimetric antenna system. The ultra-light weight antenna system consists of two crosswise arranged Vivaldi arrays, which operate over a wide bandwidth of 6:1. The antenna is placed at the rear of the ExoMars rover in a way that the E- planes of each single Vivaldi antenna is rotated by 45 degrees with respect to the direction of motion. Moreover, the pattern of this Vivaldi antenna exhibits a narrow beam at the E-plane and a wide beam at the H-plane. Besides the simple detection of objects, these particular antenna and accommodation features allow the location of objects to the left or to the right of the rover path. In a first step the left-right-evaluation of objects and subsurface features is investigated on laboratory measurements for different geometrical configurations. As expected the radargrams exhibit a strong echo at the co-polar transfer functions. At each lateral distance the echo of each scatterer produces a hyperbola but the position of the maximum of magnitude depends on the lateral distance to the rover path. In the next step

PDS4 vs PDS3 - A Comparison of PDS Data for Two Mars Rovers - Existing Mars Curiosity Mission Mass Spectrometer (SAM) PDS3 Data vs Future ExoMars Rover Mass Spectrometer (MOMA) PDS4 Data

NASA Astrophysics Data System (ADS)

Lyness, E.; Franz, H. B.; Prats, B.

2017-12-01

The Sample Analysis at Mars (SAM) instrument is a suite of instruments on Mars aboard the Mars Science Laboratory rover. Centered on a mass spectrometer, SAM delivers its data to the PDS Atmosphere's node in PDS3 format. Over five years on Mars the process of operating SAM has evolved and extended significantly from the plan in place at the time the PDS3 delivery specification was written. For instance, SAM commonly receives double or even triple sample aliquots from the rover's drill. SAM also stores samples in spare cups for long periods of time for future analysis. These unanticipated operational changes mean that the PDS data deliveries are absent some valuable metadata without which the data can be confusing. The Mars Organic Molecule Analyzer (MOMA) instrument is another suite of instruments centered on a mass spectrometer bound for Mars. MOMA is part of the European ExoMars rover mission schedule to arrive on Mars in 2021. While SAM and MOMA differ in some important scientific ways - MOMA uses an linear ion trap compared to the SAM quadropole mass spectrometer and MOMA has a laser desorption experiment that SAM lacks - the data content from the PDS point of view is comparable. Both instruments produce data containing mass spectra acquired from solid samples collected on the surface of Mars. The MOMA PDS delivery will make use of PDS4 improvements to provide a metadata context to the data. The MOMA PDS4 specification makes few assumptions of the operational processes. Instead it provides a means for the MOMA operators to provide the important contextual metadata that was unanticipated during specification development. Further, the software tools being developed for instrument operators will provide a means for the operators to add this crucial metadata at the time it is best know - during operations.

Enantioselective Analysis in instruments onboard ROSETTA/PHILAE and ExoMars

NASA Astrophysics Data System (ADS)

Hendrik Bredehöft, Jan; Thiemann, Wolfram; Meierhenrich, Uwe; Goesmann, Fred

It has been suggested a number of times in the past, to look for chirality as a biomarker. So far, for lack of appropriate instrumentation, space missions have never included enantioselective analysis. The distinction between enantiomers is of crucial importance to the question of the origin of the very first (pre)biotic molecules. If molecules detected in situ on another celestial body were found to exhibit a chiral bias, this would mean that at least partial asymmetric synthesis could take place abiotically. If this chiral bias should be found to be near 100For the currently flying ESA mission ROSETTA an enantioselective instrument was built, to try for the first time to detect and separate chiral molecules in situ. This instrument is COSAC, the Cometary Sampling and Acquisition Experiment, an enantioselective GCMS device[1,2], which is included in the lander PHLIAE that will eventually in 2014 land on the nucleus of comet 67P/Churyumov-Gerasimenko. A similar but even more powerful type of enantioselective GC-MS is in preparation for ESA's ExoMars mission. This instrument is part of MOMA, the Mars Organic Molecules Analyser. It has the objective of identifying and quantifying chiral organic molecules in surface and subsurface samples of Mars. Currently ExoMars is scheduled for 2018. The newly developed enantioselective technique utilized by both COSAC and MOMA will be described, including sample acquisition, derivatization, and separation in space-resistant chiral stationary capillary columns with time-of-flight mass spectrometric detection. Results of enantioselective analyses of representative test samples with special emphasis on amino acids[3], the building blocks of protein polymers, will be presented and we will discuss potential results of space missions Rosetta and ExoMars. [1] Thiemann W.H.-P., Meierhenrich U.: ESA Mission ROSETTA Will Probe for Chirality of Cometary Amino Acids. Origins of Life and Evolution of Biospheres 31 (2001), 199-210. [2

GEP, A Geophysical and Environemental integrated payload for ExoMars

NASA Astrophysics Data System (ADS)

Spohn, T.; Lognonne, P.; Dehant, V.; Giardini, D.; Friis-Christensen, E.; Calcutt, S.; GEP Team

The goal of the GEP proposed onboard the ExoMars mission is to provide the first complete set of geophysical and environmental data of Mars. A full mass of 20 kg is envisaged, enabling a payload of about 5 kg serviced by common integrated subsystems. GEP will first monitor the present Martian climate and meteorology by providing a unique monitoring on potential hazards for future human exploration missions (radiations, atmospheric electricity, dust) and on atmospheric parameters (wind, pressure, temperature, humidity). Such a long term monitoring has never been performed since the Viking landers. GEP will then provide, for the first time, a complete geophysical monitoring of Mars. It will search for remote and regional seismic activity, will measure the heat flux of the planets, will monitor the rotation of Mars and will study the magnetic field at the surface and finally will constrain the subsurface in the vicinity of the ExoMars landing site and the deep interior. By providing these new geophysical data and associated constraints on the interior and on the actual geologic activity of the surface, GEP will provide a major step in our understanding of the geological evolution of the planet and the habitability conditions during the first billion years, enabling a full understanding of the surface and mineralogical observations performed by the Pasteur payload onboard the ExoMars rover and by the payload onboard the MSL NASA 2009 mission.

Planetary Protection Considerations For Exomars Meteorological Instrumentation.

NASA Astrophysics Data System (ADS)

Camilletti, Adam

2007-10-01

Planetary protection requirements for Oxford University's contribution to the upcoming ESA ExoMars mission are discussed and the current methods being used to fulfil these requirements are detailed and reviewed. Oxford University is supplying temperature and wind sensors to the mission and since these will be exposed to the Martian environment there is a requirement that they are sterilised to stringent COSPAR standards adhered to by ESA. Typically dry heat microbial reduction (DHMR) is used to reduce spacecraft bioburden but the high temperatures involved are not compatible with the some hardware elements. Alternative, low-temperature sterilisation methods are reviewed and their applicability to spacecraft hardware discussed. The use of a commercially available, bench-top endotoxin tester in planetary protection is also discussed and data from preliminary tests performed at Oxford are presented. These devices, which utilise the immune response of horseshoe crabs to the presence of endotoxin, have the potential to reduce the time taken to determine bioburden by removing the need for conventional assaying -a lengthy and sometimes expensive process.

Development and Testing of a ``Backlash-Free'' Gas-Tight High Precision Sample Handling Mechanism for Combined Science on the ExoMars 2018 Rover

NASA Astrophysics Data System (ADS)

Paul, R.; Redlich, D.; Richter, L.; Zuknik, K.-H.; Muhlbauer, Q.; Thiel, M.; Fowler, L.; Tattusch, T.; Weisz, H.; Musso, F.; Durrant, S.

2015-09-01

This paper presents the development and testing by the OHB System AG of the Powdered Sample Handling Mechanism (PSHS) that is part of the rover of the European Space Agency 2018 ExoMars Mission, a cooperative mission with Roscosmos including a scientific instrument contribution from NASA. The task of this mechanism is to flatten and position powdered Martian soil samples allowing subsequent investigation of selected grains by different optical instruments thus providing combined science in an ultra-clean environment.The exceptional sensitivity of these instruments causes extremely challenging requirements with respect to positioning performance as well as cleanliness and contamination control. The impact of these design drivers is highlighted focusing on specific mechanism features such as the pre-torque device to minimize the backlash and the dynamic feed-through, allowing a gas-tight encapsulation of an ultra-clean zone free of drive-train components.Subsequently the results of the test campaign of an elegant breadboard under Mars-like conditions, as well as first QM test results are described. Furthermore the outcomes of combined tests with an optical instrument are reported.

Scout Rover Applications for Forward Acquisition of Soil and Terrain Data

NASA Astrophysics Data System (ADS)

Sonsalla, R.; Ahmed, M.; Fritsche, M.; Akpo, J.; Voegele, T.

2014-04-01

As opposed to the present mars exploration missions future mission concepts ask for a fast and safe traverse through vast and varied expanses of terrain. As seen during the Mars Exploration Rover (MER) mission the rovers suffered a lack of detailed soil and terrain information which caused Spirit to get permanently stuck in soft soil. The goal of the FASTER1 EU-FP7 project is to improve the mission safety and the effective traverse speed for planetary rover exploration by determining the traversability of the terrain and lowering the risk to enter hazardous areas. To achieve these goals, a scout rover will be used for soil and terrain sensing ahead of the main rover. This paper describes a highly mobile, and versatile micro scout rover that is used for soil and terrain sensing and is able to co-operate with a primary rover as part of the FASTER approach. The general reference mission idea and concept is addressed within this paper along with top-level requirements derived from the proposed ESA/NASA Mars Sample Return mission (MSR) [4]. Following the mission concept and requirements [3], a concept study for scout rover design and operations has been performed [5]. Based on this study the baseline for the Coyote II rover was designed and built as shown in Figure 1. Coyote II is equipped with a novel locomotion concept, providing high all terrain mobility and allowing to perform side-to-side steering maneuvers which reduce the soil disturbance as compared to common skid steering [6]. The rover serves as test platform for various scout rover application tests ranging from locomotion testing to dual rover operations. From the lessons learned from Coyote II and for an enhanced design, a second generation rover (namely Coyote III) as shown in Figure 2 is being built. This rover serves as scout rover platform for the envisaged FASTER proof of concept field trials. The rover design is based on the test results gained by the Coyote II trials. Coyote III is equipped with two

Spectral measurements of Terrestrial Mars Analogues: support for the ExoMars - Ma_Miss instrument

NASA Astrophysics Data System (ADS)

De Angelis, S.; De Sanctis, M. C.; Ammannito, E.; Di Iorio, T.; Carli, C.; Frigeri, A.; Capria, M. T.; Federico, C.; Boccaccini, A.; Capaccioni, F.; Giardino, M.; Cerroni, P.; Palomba, E.; Piccioni, G.

2013-09-01

The Ma_Miss (Mars Multispectral Imager for Subsurface Studies) instrument onboard of ExoMars 2018 mission to Mars will investigate the Martian subsoil down to a depth of 2 meters [1]. Ma_Miss is a miniaturized spectrometer, completely integrated within the drilling system of the ExoMars Pasteur rover; it will acquire spectra in the range 0.4-2.2μm, from the excavated borehole wall. The spectroscopic investigation of the subsurface materials will give us precious information about mineralogical, petrologic and geological processes, and will give insights about materials that have not been modified by surface processes such as erosion, weathering or oxidation. Spectroscopic measurements have been performed on Terrestrial Mars Analogues with the Ma_Miss laboratory model (breadboard). Moreover spectroscopic investigation of different sets of Terrestrial Mars Analogues is being carried on with different laboratory setups, as a support for the ExoMars-Ma_Miss instrument.

WISDOM GPR investigations in a Mars-analog environment during the SAFER rover operation simulation

NASA Astrophysics Data System (ADS)

Dorizon, S.; Ciarletti, V.; Plettemeier, D.; Vieau, A.-J.; Benedix, W.-S.; Mütze, M.; Hassen-Kodja, R.; Humeau, O.

2014-04-01

The WISDOM (Water Ice Subsurface Deposits Observations on Mars) Ground Penetrating Radar has been selected to be onboard the ExoMars 2018 rover mission [1]. This instrument will investigate the Martian shallow subsurface and provide the geological context of the mission, by characterizing the subsurface in terms of structure, stratigraphy and potential buried objects. It will also quantify the geoelectrical properties of the medium, which are directly related to its nature, its water or salts content and its hardness [2]. WISDOM data will provide important clues to guide the drilling operations to location of potential exobiological interest. A prototype available in LATMOS, France, is currently tested in a wide range of natural environments. In this context, the WISDOM team participated in the SAFER (Sample Acquisition Field Experiment with a Rover) field trial that occurred from 7th to 13th October 2013 in the Atacama Desert, Chile. Designed to gather together scientists and engineers in a context of a real Martian mission with a rover, the SAFER trial was the opportunity to use three onboard ExoMars instruments, namely CLUPI (Close- UP Imager), PANCAM (Panoramic Camera) and WISDOM, to investigate the chosen area. We present the results derived from WISDOM data acquired over the SAFER trial site to characterize the shallow subsurface of the area.

ESA Sample Fetch Rover: Heritage and Way Forward

NASA Astrophysics Data System (ADS)

Duvet, L.; Beyer, F.; Delfa, J.; Zekri, E.

2018-04-01

The Sample Fetch Rover (SFR) is one of the key elements of the Mars Sample Return (MSR) campaign architecture. We will present the SFR heritage as well as a way forward identified to address this engineering challenge.

Microrover Nanokhod enhancing the scientific output of the ExoMars Lander

NASA Astrophysics Data System (ADS)

Klinkner, Sabine; Bernhardt, Bodo; Henkel, Hartmut; Rodionov, Daniel; Klingelhoefer, Goestar

The Nanokhod rover is a small and mobile exploration platform carrying out in-situ exploration by transporting and operating scientific instruments to interesting samples beyond the landing point. The microrover has a volume of 160x65x250mm (3) it weighs 3.2kg including a payload mass of 1kg and it has a peak power of 5W. The scientific model payload of the rover is a Geochemistry Instrument Package Facility (GIPF), which analyses the chemical and mineralogical composition of planetary surfaces. It consists of: An Alpha-Particle-Xray-spectrometer, a Mößbauer spectrometer and a miniature imaging system. The amount of science which can be performed within the operating range of the lander is limited since there are only few reachable, scientific interesting objects. By travelling to new sites with the aid of a microrover, the additional reach enhances the mission output and provides a significant increase in scientific return. The implementation of the Nanokhod rover on the ExoMars Lander increases its operating range by a radius of several meters, requiring only a minor mass impact of few kilograms. The Nanokhod rover is a tethered vehicle based on a Russian concept. It stays connected to the Lander via thin cables throughout the mission. This connection is used for power supply to the rover as well as the transmission of commands and scientific data. This solution minimises the communication unit and eliminates the power subsystems on the rover side, saving valuable mass and thus improving the payload to system mass ratio. By removing the power storage subsystem on the rover side, the mobile system provides a high thermal robustness and allows the system to easily survive Martian nights. The locomotion of the rover is provided by tracks. This is the optimised locomotion method on a soft and sandy surface for such a small, low-mass system, allowing even to negotiate steep slopes. The tracks enable a large contact surface of the vehicle, thus reducing its contact

ExoMars Raman Laser Spectrometer scientific required performances check with a Breadboard

NASA Astrophysics Data System (ADS)

Moral, A.; Díaz, E.; Ramos, G.; Rodríguez Prieto, J. A.; Pérez Canora, C.; Díaz, C.; Canchal, R.; Gallego, P.; Santamaría, P.; Colombo, M.

2013-09-01

The Raman Laser Spectrometer (RLS) is one of the Pasteur Payload instruments, within the ESA's Aurora Exploration Program, ExoMars mission. For being able to verify the achievement of the scientific objectives of the instrument, a Breadboard campaign was developed, for achieving instrument TRL5. Within the Instrument TRL5 Plan, it was required to every unit to develop its own Unit Breadboard, to check their own TRL5 and then to deliver it to System Team to be integrated and tested for finally checks Instrument performances.

A Landing Site for ExoMars 2016

NASA Image and Video Library

2015-11-27

This image from NASA Mars Reconnaissance Orbiter spacecraft is of a landing site that the flattest, safest place on Mars: part of Meridiani Planum, close to where the Opportunity rover landed. In March 2016, the European Space Agency in partnership with Roscosmos will launch the ExoMars Trace Gas Orbiter. This orbiter will also carry an Entry, Descent, and Landing Demonstration Module (EDM): a lander designed primarily to demonstrate the capability to land on Mars. The EDM will survive for only a few days, running on battery power, but will make a few environmental measurements. The landing site is the flattest, safest place on Mars: part of Meridiani Planum, close to where the Opportunity rover landed. This image shows what this terrain is like: very flat and featureless. A full-resolution sample reveals the major surface features: small craters and wind ripples. HiRISE has been imaging the landing site region in advance of the landing, and will re-image the site after landing to identify the major pieces of hardware: heat shield, backshell with parachute, and the lander itself. The distribution of these pieces will provide information about the entry, descent and landing. http://photojournal.jpl.nasa.gov/catalog/PIA20159

The CANopen Controller IP Core: Implementation, Synthesis and Test Results

NASA Astrophysics Data System (ADS)

Caramia, Maurizio; Bolognino, Luca; Montagna, Mario; Tosi, Pietro; Errico, Walter; Bigongiari, Franco; Furano, Gianluca

2011-08-01

This paper will describe the implementation and test results of the CANopen Controller IP Core (CCIPC) implemented by Thales Alenia Space and SITAEL Aerospace with the support of ESA in the frame of the EXOMARS Project. The CCIPC is a configurable VHDL implementation of the CANOPEN protocol [1]; it is foreseen to be used as CAN bus slave controller within the EXOMARS Entry Descending and Landing Demonstrato Module (EDM) and Rover Module. The CCIPC features, configuration capability, synthesis and test results will be described and the evidence of the state of maturity of this innovative IP core will be demonstrated.

MOMA: The Challenge to Search for Organics and Biosignatures on Mars

NASA Technical Reports Server (NTRS)

Goetz, Walter; Brinckerhoff, W. B.; Arevalo, R., Jr.; Freissinet, C.; Getty, S.; Glavin, D. P.; Siljestroem, S.; Buch, A.; Stalport, F.; Grubisic, A.;

Preliminary Results of Simulations and Field Investigations of the Performance of the WISDOM GPR of the ExoMars Rover

NASA Astrophysics Data System (ADS)

Ciarletti, V.; Corbel, C.; Cais, P.; Pltettemeier, D.; Hamran, S. E.; Oyan, M.; Clifford, S.; Reineix, A.

2009-04-01

WISDOM (Water Ice and Subsurface Deposit Observations on Mars) is a ground penetrat-ing radar (GPR) that was selected as one of three survey instruments on the ExoMars Rover Pasteur Payload. Its purpose is to characterize the nature of the shallow subsurface (including geological structure, electromagnetic properties, and potential hydrological state) and identify the most promising locations for investigation and sampling by the Rover's onboard drill - providing information down to a depth of 2 or 3 meters with a vertical resolution of a few centimeters (performance characteristics that will vary, depending on the local permittivity and conductivity of the subsurface). WISDOM is a polarimetric, step-frequency GPR operating over the frequency range of 0.5 - 3 GHz. The polarimetric capability of WISDOM is particularly useful for identifying and characterizing oriented structures like faults, fractures and stratigraphic interface roughness. To achieve this objective, special care has been dedicated to the design of the antenna system, which consists of a pair of Vivaldi antenna to conduct both co- and cross-polar measurements. WISDOM will perform its scientific investigations at each of the sites visited by the Rover and during the intervening traverses. During a traverse between two successive experiment cycles of the mission (drilling and sample analysis), WISDOM soundings will be performed to provide a coarse survey of the structure and nature of the underground and its large-scale variations. This information is required to understand the overall geological context and the properties of the subsurface. When a particular location has been selected for potential investigation by the drill, WISDOM will obtain subsurface profiles on a 2D grid, in order to synthesize a 3D map of subsurface soil characteristics and spatial variabil-ity. Full polarimetric soundings will be performed at 10 cm intervals along each parallel grid line, which will have a line-to-line spacing

Design and Testing of a Linear Ion Trap for the Mars Organic Molecule Analyzer (MOMA) Investigation on the 2018 ExoMars Rover

NASA Astrophysics Data System (ADS)

Brinckerhoff, W. B.; van Amerom, F.; Danell, R.; Pinnick, V. T.; Arevalo, R. D.; Li, X.; Hovmand, L.; Siljestrom, S.; Mahaffy, P. R.; Goetz, W.; Goesmann, F.; Steininger, H.

2013-12-01

The 2018 ExoMars rover mission includes the Mars Organic Molecule Analyzer (MOMA) investigation. MOMA will examine the chemical composition of samples acquired from depths of up to two meters below the martian surface, where organics may be protected from radiative and oxidative degradation. When combined with the complement of instruments in the rover's Pasteur Payload, MOMA has the potential to reveal the presence of a wide range of organics preserved in a variety of mineralogical environments, and to begin to understand the structural character and potential origin of those compounds. MOMA includes an ion trap mass spectrometer (ITMS) that is designed to analyze molecular composition of (i) gas evolved from pyrolyzed powder samples and separated on a gas chromatograph and (ii) ions directly desorbed from solid samples at Mars ambient pressure using a pulsed laser and a fast-valve capillary ion inlet system. This 'dual source' approach gives MOMA unprecedented breadth of detection over a wide range of molecular weights and volatilities. Analysis of nonvolatile, higher-molecular weight organics such as carboxylic acids and peptides even in the presence of significant perchlorate concentrations is enabled by the extremely short (~1 ns) pulses of the desorption laser. Use of the ion trap's tandem mass spectrometry mode permits selective focus on key species for isolation and controlled fragmentation, providing structural analysis capabilities. The flight-like engineering test unit (ETU) of the ITMS, now under construction, will be used to verify breadboard performance with high fidelity, while simultaneously supporting the development of analytical scripts and spectral libraries using synthetic and natural Mars analog samples guided by current results from MSL. ETU campaign data will strongly advise the specifics of the calibration applied to the MOMA flight model as well as the science operational procedures during the mission.

WISDOM : an UHF GPR on the Exomars Mission

NASA Astrophysics Data System (ADS)

Corbel, C.; Hamram, S.; Ney, R.; Plettemeier, D.; Dolon, F.; Jeangeot, A.; Ciarletti, V.; Berthelier, J.

2006-12-01

This paper describes the main technical features of WISDOM (Water Ice and Subsurface Deposit Observations on Mars) Ground Penetrating Radar. This radar has been selected on the PASTEUR payload of the ESA ExoMars rover. The launch is scheduled in 2011. The main objective of this mission is to acquire and analyze samples of the shallow subsurface and search for traces of extinct or extant life. The WISDOM GPR aims at providing observations of the structure and layering of the upper layers of the subsurface in order to retrieve geological information that are of prime interest to select optimal sites to drill. It will also localize buried obstacles (rocks, boulders, ?)in the underground that will make the delicate drilling operations safer. WISDOM will operate in the UHF range from 500 MHz to 3 GHz and probe the first few meters of the subsurface with a high resolution (a few centimeters). The large bandwidth requirement (2.5 GHz) led us to select a gated step frequency technique for WISDOM. The Step Frequency technique is based on the analysis of the system in the frequency domain. The phase and amplitude of the reflected signal are measured at about 200 different frequencies effectively measuring the transfer function of the sub-surface between the transmitter and receiver antenna. The impulse response and eventually the distance of the reflecting structures can be obtained by performing an inverse Fourier transform of the measured transfer function. The broad band antennas have been designed in order to have a wide radiation pattern into the sub-surface and to avoid the direct coupling and allow co and cross polar measurements. To decrease the direct signal between the transmitter and the receiver or strong reflections from the surface, hardware range gating is implemented. The performances of the instrument operated in well characterized conditions will be presented

Exomars orbiter science and data-relay mission / looking for trace gases on Mars

NASA Astrophysics Data System (ADS)

Fratacci, Olivier

EXOMARS Orbiter Module: looking for trace gas on Mars and providing data relay support for future Mars Surface assets O.Fratacci, M.Mesrine, H.Renault, Thales Alenia Space France B.Musetti, M.Montagna, Thales Alenia Space Italy M.Kesselmann, M.Barczewski OHB P.Mitschdoerfer, D.Dellantonio Euro-pean Space Agency / ESTEC The European Space Agency (ESA) in a joint cooperation with NASA, will launch in 2016 the EXOMARS spacecraft composite to develop European landing technologies and provide a science orbiter with data-relay capability around Mars until end 2022. The spacecraft composite is composed of the Orbitr Module (OM), provided by TAS-France, an entry descent and landing demonstrator module (EDM) provided by TAS-Italy, and a set of six scientific payloads to be selected by the JPL during 2010. Recent observations of the planet Mars have indicated detection of methane as well as temporal, perhaps spatial variability in the detected signal while current photochemical models cannot explain the presence of methane in the atmosphere of Mars nor its reported rapid variations in space and time. The triple scientific objectives that drive the selection of these six instruments for the Exomars 2016 mission is to detect trace gases in Mars atmosphere, to characterise their spatial and temporal variation and to explore the source of the key trace gases (e.g. methane) on the surface. The launch is scheduled in January 2016 from Kennedy Space Center (KSC) using an ATLAS V 421 launcher with a total launch mass of 4.4 tons. After release of the EDM on Mars, the OM will perform the Mars Orbit Insertion manoeuvre and then reduce its elliptic orbit by implementing the first European Aerobraking around Mars for about 6 to 9 months, to finally end on a circular 400x400km orbit with an altitude in the range of 350km to 420km. From this orbit, a science phase will follow lasting 2 years in which the Mars atmosphere and surface is continuously observed. Science instruments composed of

Design And Construction Of A Miniaturized Motor Controller For Interplanetary Rover

NASA Astrophysics Data System (ADS)

Lofgren, Henrik; Lijemark, Tomas; Lamoureux, Enrique; Bruhn, Fredrik; Hagstrom, Maria; Hall, Karin; Ljunggren, Anders; Habinc, Sandi; Gruener, Gabriel; Rusconi, Andrea; Boyes, Ben; Wagenbach, Susanne; Poulakis, Pantelis; Kohler, Johan

2011-10-01

ÅAC Microtec AB is leading an international consortium developing a Motion Control Chip (MCC) for the European Space Agency (ESA) under a TRP contract. The team consists of the prime ÅAC (Sweden), Aeroflex Gaisler (Sweden), Centre Suisse d'Electroniqueet de Microtechnique (CSEM, Switzerland), Selex Galileo Italy), Astrium (UK) and DLR Institute of Space Systems (Germany). In order to improve performance of rovers and robotic arms, one solution is to place the controller physically as close as possible to the motors. This reduces the harness and hence saves weight, decreases thermal leakage from the main system body and simplifies the final assembly. Nevertheless, with this approach the constraints on the electronics become more stringent: the assembly has to survive a very wide temperature range as well as vibrations and possibly dust, and at the same time it should be as small and light as possible. To cope with these design constraints, the Motion Control Chip (MCC) is based on stacked ceramic substrate technology in a Multi Chip Module (MCM), on which active components are assembled as bare dies. This approach was chosen in favor of special large ASIC development to reduce cost and make the design more flexible. By choosing a MCM solution, the design will allow both FPGA and ASICs to be used. FPGAs are used initially to lower the prototyping cost and later be replaced with ASICs as the packaging technology is qualified for the extreme environments of ISS, Mars and Moon. The manufacturing of the first iteration of miniaturized MCC modules is ongoing and initial functional tests have been executed. The results are currently being evaluated and when this is finalized the full test campaign including environmental tests will planned in detail. The tests are assumed to be finalized during the spring of 2011. Aeroflex Gaisler is the official ESA maintainer of the RTEMS port for the LEON3 processor and has been providing support to several developments. CSEM is

The PRo3D View Planner - interactive simulation of Mars rover camera views to optimise capturing parameters

NASA Astrophysics Data System (ADS)

Traxler, Christoph; Ortner, Thomas; Hesina, Gerd; Barnes, Robert; Gupta, Sanjeev; Paar, Gerhard

2017-04-01

High resolution Digital Terrain Models (DTM) and Digital Outcrop Models (DOM) are highly useful for geological analysis and mission planning in planetary rover missions. PRo3D, developed as part of the EU-FP7 PRoViDE project, is a 3D viewer in which orbital DTMs and DOMs derived from rover stereo imagery can be rendered in a virtual environment for exploration and analysis. It allows fluent navigation over planetary surface models and provides a variety of measurement and annotation tools to complete an extensive geological interpretation. A key aspect of the image collection during planetary rover missions is determining the optimal viewing positions of rover instruments from different positions ('wide baseline stereo'). For the collection of high quality panoramas and stereo imagery the visibility of regions of interest from those positions, and the amount of common features shared by each stereo-pair, or image bundle is crucial. The creation of a highly accurate and reliable 3D surface, in the form of an Ordered Point Cloud (OPC), of the planetary surface, with a low rate of error and a minimum of artefacts, is greatly enhanced by using images that share a high amount of features and a sufficient overlap for wide baseline stereo or target selection. To support users in the selection of adequate viewpoints an interactive View Planner was integrated into PRo3D. The users choose from a set of different rovers and their respective instruments. PRo3D supports for instance the PanCam instrument of ESA's ExoMars 2020 rover mission or the Mastcam-Z camera of NASA's Mars2020 mission. The View Planner uses a DTM obtained from orbiter imagery, which can also be complemented with rover-derived DOMs as the mission progresses. The selected rover is placed onto a position on the terrain - interactively or using the current rover pose as known from the mission. The rover's base polygon and its local coordinate axes, and the chosen instrument's up- and forward vectors are

SINBAD flight software, the on-board software of NOMAD in ExoMars 2016

NASA Astrophysics Data System (ADS)

Pastor-Morales, M. C.; Rodríguez-Gómez, Julio F.; Morales-Muñoz, Rafael; Gómez-López, Juan M.; Aparicio-del-Moral, Beatriz; Candini, Gian Paolo; Jerónimo-Zafra, Jose M.; López-Moreno, Jose J.; Robles-Muñoz, Nicolás. F.; Sanz-Mesa, Rosario; Neefs, Eddy; Vandaele, Ann C.; Drummond, Rachel; Thomas, Ian R.; Berkenbosch, Sophie; Clairquin, Roland; Delanoye, Sofie; Ristic, Bojan; Maes, Jeroen; Bonnewijn, Sabrina; Patel, Manish R.; Leese, Mark; Mason, Jon P.

2016-07-01

The Spacecraft INterface and control Board for NomAD (SINBAD) is an electronic interface designed by the Instituto de Astroffisica de Andalucfia (IAA-CSIC). It is part of the Nadir and Occultation for MArs Discovery instrument (NOMAD) on board in the ESAs ExoMars Trace Gas Orbiter mission. This mission was launched in March 2016. The SINBAD Flight Software (SFS) is the software embedded in SINBAD. It is in charge of managing the interfaces, devices, data, observing sequences, patching and contingencies of NOMAD. It is presented in this paper the most remarkable aspects of the SFS design, likewise the main problems and lessons learned during the software development process.

Lander Radioscience LaRa, a Space Geodesy Experiment to Mars within the ExoMars 2020 mission.

NASA Astrophysics Data System (ADS)

Dehant, V. M. A.; Le Maistre, S.; Yseboodt, M.; Peters, M. J.; Karatekin, O.; Van Hove, B.; Rivoldini, A.; Baland, R. M.; Van Hoolst, T.

2017-12-01

The LaRa (Lander Radioscience) experiment is designed to obtain coherent two-way Doppler measurements from the radio link between the 2020 ExoMars lander and Earth over at least one Martian year. The LaRa instrument consists of a coherent transponder with up- and downlinks at X-band radio frequencies. The signal received from Earth is a pure carrier at 7.178 GHz; it is transponded back to Earth at a frequency of 8.434 GHz. The transponder is designed to maintain its lock and coherency over its planed one-hour observation sessions. The transponder mass is at the one-kg level. There are one uplink antenna and two downlink antennas. They are small patch antennas covered by a radome of 130gr for the downlink ones and of 200gr for the uplink. The signals will be generated and received by Earth-based radio antennas belonging to the NASA deep space network (DSN), the ESA tracking station network, or the Russian ground stations network. The instrument lifetime is more than twice the nominal mission duration of one Earth year. The Doppler measurements will be used to observe the orientation and rotation of Mars in space (precession, nutations, and length-of-day variations), as well as polar motion. The ultimate objective is to obtain information/constraints on the Martian interior, and on the sublimation/condensation cycle of atmospheric CO2. Orientation and rotational variations will allow us to constrain the moment of inertia of the entire planet, the moment of inertia of the core, and seasonal mass transfer between the atmosphere and the ice caps. The LaRa experiment will be combined with other previous radio science experiments such as the InSight (Interior Exploration using Seismic Investigations, Geodesy and Heat Transport) RISE experiment (Rotation and Interior Structure Experiment) with radio science data of the NASA Viking landers, Mars Pathfinder and Mars Exploration Rovers. In addition, other ExoMars2020 and TGO (Trace Gas Orbiter) experiments providing

NOMAD on the ExoMars TGO 2016 mission: MAIT and characterisation testing

NASA Astrophysics Data System (ADS)

Vandaele, Ann C.; Neefs, Eddy; Lopez-Moreno, J. J.; Rodriguez Gomez, Julio; Drummond, Rachel; Patel, Manish; Thomas, Ian; Gissot, Samuel; Depiesse, Cedric; Ben Moussa, Ali; Giordanengo, Boris; Bellucci, Giancarlo

NOMAD, the “Nadir and Occultation for MArs Discovery” spectrometer suite has been selected by ESA and NASA to be part of the payload of the ExoMars Trace Gas Orbiter mission 2016. This instrument suite will conduct a spectroscopic survey of Mars’ atmosphere in the UV, visible and IR regions covering the 0.2-0.65 and 2.2-4.3 μm spectral ranges. NOMAD’s observation modes include solar occultation, nadir and limb observations. The NOMAD instrument is composed of 3 channels: a solar occultation only channel (SO) operating in the infrared wavelength domain, a second infrared channel capable of observing nadir, solar occultation and limb observations (LNO), and an ultraviolet/visible channel (UVIS) that can work in all observation modes. The spectral resolution of SO and LNO surpasses previous surveys in the infrared by more than one order of magnitude. NOMAD offers an integrated instrument combination of a flight-proven concept (SO is a copy of SOIR on Venus Express), and innovations based on existing and proven instrumentation (LNO is based on SOIR/VEX and UVIS has heritage from the ExoMars lander), that will provide mapping and vertical profile information at high spatio-temporal resolution. The three channels have each their own ILS and optical bench, but share the same single interface to the S/C. The NOMAD flight model is due for delivery to ESA in January 2015. We will present results so far of the manufacturing, assembly and especially testing of the various components. The UV CCDs have been characterised in thermal-vacuum; optical fibres have been studied with UV exposure to look at transmission degradation; the IR AOTFs have been tested for their transfer functions; lifetime and vibration testing has been carried out on the flip mirror mechanism. These are all vital inputs to the scientific results from NOMAD. Acknowledgements - The research program was supported by the Belgian Federal Science Policy Office and the European Space Agency (ESA PRODEX

ExoMars Lander Radioscience LaRa, a Space Geodesy Experiment to Mars.

NASA Astrophysics Data System (ADS)

Dehant, Veronique; Le Maistre, Sebastien; Yseboodt, Marie; Peters, Marie-Julie; Karatekin, Ozgur; Van Hove, Bart; Rivoldini, Attilio; Baland, Rose-Marie; Van Hoolst, Tim

2017-04-01

The LaRa (Lander Radioscience) experiment is designed to obtain coherent two-way Doppler measurements from the radio link between the ExoMars lander and Earth over at least one Martian year. The instrument life time is thus almost twice the one Earth year of nominal mission duration. The Doppler measurements will be used to observe the orientation and rotation of Mars in space (precession, nutations, and length-of-day variations), as well as polar motion. The ultimate objective is to obtain information / constraints on the Martian interior, and on the sublimation / condensation cycle of atmospheric CO2. Rotational variations will allow us to constrain the moment of inertia of the entire planet, including its mantle and core, the moment of inertia of the core, and seasonal mass transfer between the atmosphere and the ice caps. The LaRa experiment will be combined with other ExoMars experiments, in order to retrieve a maximum amount of information on the interior of Mars. Specifically, combining LaRa's Doppler measurements with similar data from the Viking landers, Mars Pathfinder, Mars Exploration Rovers landers, and the forthcoming InSight-RISE lander missions, will allow us to improve our knowledge on the interior of Mars with unprecedented accuracy, hereby providing crucial information on the formation and evolution of the red planet.

Re-use of Science Operations Systems around Mars: from Mars Express to ExoMars

NASA Astrophysics Data System (ADS)

Cardesin-Moinelo, Alejandro; Mars Express Operations Centre; ExoMars Science Operations Centre

2017-10-01

Mars Express and ExoMars 2016 Trace Gas Orbiter are the only two ESA planetary missions currently in operations, and they happen to be around the same planet! These two missions have great potential for synergies between their science objectives, instruments and observation capabilities and they can all be combined to improve the scientific outcome and improve our knowledge about Mars. In this contribution we will give a short summary of both missions, with an insight in its similarities and differences regarding their scientific and operational challenges, and we will summarize the lessons learned from Mars Express and how the existing science operations systems, processes and tools have been reused, redesigned and adapted in order to satisfy the operational requirements of ExoMars, with limited development resources thanks to the inherited capabilities from previous missions. In particular we will focus on the preparations done by the science operations centers at ESAC and the work within the Science Ground Segments for the re-use of the SPICE and MAPPS software tools, with the necessary modifications and upgrades to perform the geometrical and operational simulations of both spacecrafts, taking into account the specific instrument modelling, observation requirements and all the payload and spacecraft operational rules and constraints for feasibility checks. All of these system upgrades are now being finalized for ExoMars and some of them have already been rehearsed in orbit, getting ready for the nominal science operations phase starting in the first months of 2018 after the aerobraking phase

Microbial biodiversity assessment of the European Space Agency's ExoMars 2016 mission.

PubMed

Koskinen, Kaisa; Rettberg, Petra; Pukall, Rüdiger; Auerbach, Anna; Wink, Lisa; Barczyk, Simon; Perras, Alexandra; Mahnert, Alexander; Margheritis, Diana; Kminek, Gerhard; Moissl-Eichinger, Christine

2017-10-25

The ExoMars 2016 mission, consisting of the Trace Gas Orbiter and the Schiaparelli lander, was launched on March 14 2016 from Baikonur, Kazakhstan and reached its destination in October 2016. The Schiaparelli lander was subject to strict requirements for microbial cleanliness according to the obligatory planetary protection policy. To reach the required cleanliness, the ExoMars 2016 flight hardware was assembled in a newly built, biocontrolled cleanroom complex at Thales Alenia Space in Turin, Italy. In this study, we performed microbiological surveys of the cleanroom facilities and the spacecraft hardware before and during the assembly, integration and testing (AIT) activities. Besides the European Space Agency (ESA) standard bioburden assay, that served as a proxy for the microbiological contamination in general, we performed various alternative cultivation assays and utilised molecular techniques, including quantitative PCR and next generation sequencing, to assess the absolute and relative abundance and broadest diversity of microorganisms and their signatures in the cleanroom and on the spacecraft hardware. Our results show that the bioburden, detected microbial contamination and microbial diversity decreased continuously after the cleanroom was decontaminated with more effective cleaning agents and during the ongoing AIT. The studied cleanrooms and change room were occupied by very distinct microbial communities: Overall, the change room harboured a higher number and diversity of microorganisms, including Propionibacterium, which was found to be significantly increased in the change room. In particular, the so called alternative cultivation assays proved important in detecting a broader cultivable diversity than covered by the standard bioburden assay and thus completed the picture on the cleanroom microbiota. During the whole project, the bioburden stayed at acceptable level and did not raise any concern for the ExoMars 2016 mission. The cleanroom complex at

Raman spectroscopy and the search for life signatures in the ExoMars Mission*

NASA Astrophysics Data System (ADS)

Edwards, Howell G. M.; Hutchinson, Ian B.; Ingley, Richard

2012-10-01

The survival strategies of extremophilic organisms in terrestrially stressed locations and habitats are critically dependent on the production of protective chemicals in response to desiccation, low wavelength radiation insolation, temperature and the availability of nutrients. The adaptation of life to these harsh prevailing conditions involves the control of the substratal geology; the interaction between the rock and the organisms is critical and the biological modification of the geological matrix plays a very significant role in the overall survival strategy. Identification of these biological and biogeological chemical molecular signatures in the geological record is necessary for the recognition of the presence of extinct or extant life in terrestrial and extraterrestrial scenarios. Raman spectroscopic techniques have been identified as valuable instrumentation for the detection of life extra-terrestrially because of the use of non-invasive laser-based excitation of organic and inorganic molecules, and molecular ions with high discrimination characteristics; the interactions effected between biological organisms and their environments are detectable through the molecular entities produced at the interfaces, for which the vibrational spectroscopic band signatures are unique. A very important attribute of Raman spectroscopy is the acquisition of molecular experimental data non-destructively without the need for chemical or mechanical pre-treatment of the specimen; this has been a major factor in the proposal for the adoption of Raman instrumentation on robotic landers and rovers for planetary exploration, particularly for the forthcoming European Space Agency (ESA)/National Aeronautics and Space Administration (NASA) ExoMars mission. In this paper, the merits of using Raman spectroscopy for the recognition of key molecular biosignatures from several terrestrial extremophile specimens will be illustrated. The data and specimens used in this presentation have

Evidence of ancient alteration and subaqueous activity in Oxia Planum, the candidate landing site for Exomars 2020

NASA Astrophysics Data System (ADS)

Quantin-Nataf, Cathy; Carter, John; Thollot, Patrick; Loizeau, Damien; Davis, Joel; Grindrod, Peter; lozach, Loic

2017-04-01

The ExoMars 2018 mission (ESA) has for scientific objectives to search for signs of past and present life on Mars, to investigate the water/geochemical environment as a function of depth in the shallow subsurface, to study to Martian atmospheric trace gases and to characterize the surface environment. The landing site has to be relevant with regard to these objectives while fitting the restrictive engineering constrains. From the scientific point of view, the site must be ancient, from the Early Mars period, for which many scientific evidences favor the existence of a water-related cycle. In this paper, we present the unique location called Oxia Planum, a wide clay bearing plain located between 16° and 19° North and -23° to -28° East proposed as landing site for Exomars 2020 mission. Oxia Planum is located between Ares Vallis and Marwth Vallis in a wide basin just at the outlet of Cogoon Vallis System, with elevations ranging from -2800 m down to -3100 m. The regional compositional mapping of Oxia planum has been achieved based on OMEGA data at 2.5 km/pix well as CRISM multispectral data at 200 m/pix. Mg/Fe phyllosilicates, identified and mapped based on their diagnostic absorptions at 1.4, 1.9 and 2.3 µm are exposed over about 80% of the ellipse surface. The entire unit with phyllosilicates signatures corresponds to a light-toned layered unit that is observed over a large range of elevations (from -2600 m to -3100m) suggesting that like in Marwth Vallis region, the layered and altered formation overlaps a pre-existing topography . The age returned from crater count on the clay rich formation is 3.9 Ga. At the top or embedded within the layered formation, several fluvial morphologies such as former valleys or inverted channels are observed. Also, at the top of the layered clay-rich formation, a deltaic deposit is observed suggesting sub-aqueous episodes postdating the altered layered formation. In terms of mineralogy, the putative delta fan shows layers

Performances of the Mars Organic Molecule Analyzer (MOMA) GC-MS suite aboard ExoMars Mission

NASA Astrophysics Data System (ADS)

Buch, A.; Grand, N.; Pinnick, V. T.; Szopa, C.; Humeau, O.; Danell, R.; van Amerom, F. H. W.; Freissinet, C.; Glavin, D. P.; Belmahdi, I.; Coll, P. J.; Lustrement, B.; Brinckerhoff, W. B.; Arevalo, R. D., Jr.; Stalport, F.; Steininger, H.; Goesmann, F.; Raulin, F.; Mahaffy, P. R.

2014-12-01

The Mars Organic Molecule Analyzer (MOMA) aboard the ExoMars rover (Pasteur) will be a key analytical tool in providing chemical (molecular) information from the solid samples collected by the rover, with a particular focus on the characterization of the organic content. Samples will be extracted as deep as 2 meters below the martian surface to minimize effects of radiation and oxidation on organic materials. The core of the MOMA instrument is a dual source UV laser desorption / ionization (LDI) and pyrolysis gas chromatography (pyr-GC) ion trap mass spectrometer (ITMS) which provides the unique capability to characterize a broad range of compounds, including both of volatile and non-volatile species. Samples which undergo GC-ITMS analysis may be submitted to a derivatization process, consisting of the reaction of the sample components with specific reactants (MTBSTFA [1], DMF-DMA [2] or TMAH [3]) which increase the volatility of complex organic species. With the goal to optimize this instrumentation, and especially the GC-ITMS coupling, a series of tests is currently being carried out with prototypes of MOMA instrumentation and with the ETU models wich is similar to the flight model. The MOMA oven and tapping station are also part of these end-to-end experiments. Qualitative and quantitative tests has been done on gas, liquid and solid samples. The results obtained demonstrate the current status of the end-to-end performance of the gas chromatography-mass spectrometry mode of operation. Both prototypes individually meet the performance requirements, but this work particularly demonstrates the capabilities of the critical GC-MS interface. References: [1] Buch, A. et al. (2009) J chrom. A, 43, 143-151. [2] Freissinet et al. (2011) J Chrom A, 1306, 59-71. [3] Geffroy-Rodier, C. et al. (2009) JAAP, 85, 454-459. Acknowledgements: Funding provided by the Mars Exploration Program (point of contact, George Tahu, NASA/HQ). MOMA is a collaboration between NASA and ESA (PI

xLuna - D emonstrator on ESA Mars Rover

NASA Astrophysics Data System (ADS)

Braga, P.; Henriques, L.; Carvalho, B.; Chevalley, P.; Zulianello, M.

2008-08-01

There is a significant gap between the services offered by existing space qualified Real-Time Operating Systems (RTOS) and those required by the most demanding future space applications. New requirements for autonomy, terrain mapping and navigation, Simultaneous Location and Mapping (SLAM), improvement of the throughput of science tasks, all demand high level services such as file systems or POSIX compliant interfaces. xLuna is an operating system that aims fulfilling these new requirements. Besides providing the typical services that of an RTOS (tasks and interrupts management, timers, message queues, etc), it also includes most of the features available in modern general-purpose operating systems, such as Linux. This paper describes a case study that proposes to demonstrate the usage of xLuna on board a rover currently in use for the development of algorithms in preparation of a mission to Mars.

Investigation of an alpine ice cave in Austria with the EXOMARS WISDOM GPR

NASA Astrophysics Data System (ADS)

Ciarletti, Valerie; Clifford, Stephen; Plettemeier, Dirk; Dorizon, Sophie; Statz, Christoph; Lustrement, Benjamin; Humeau, Olivier; Hassen-Khodja, Rafik; Galic, Alexandre; Cais, Philippe

2013-04-01

The WISDOM (Water Ice Subsurface Deposit Observations on Mars) Ground Penetrating Radar (GPR) is among the instruments selected as part of ESA's 2018 ExoMars Rover mission, whose scientific objectives are to search for signs of past and present life and to investigate the planet's subsurface. Combined with the rover, the GPR will provide high resolution observations of the structure of the shallow subsurface and assist in the identification and location of sedimentary layers or massive ice deposits, where organic molecules are the most likely to be found and well-preserved. The resulting data sets will also be a valuable tool for determining the nature, location and extent of potential targets for drilling. WISDOM prototypes, representative of the final flight model, are currently being field tested in various Mars analogue and cold-climate environments. In April 2012, members of the WISDOM team brought two development prototypes to an Alpine ice cave in Dachstein, Austria, to field test the instrument and participate in the Mars Simulation organized by the Austrian Space Forum. The GPRs were tested on 3 different platforms including the radio-controlled "Magma White" Rover from ABM Space Education in Poland. Radar investigations were conducted in four different cave environments, measuring ice thickness, stratigraphy, fracture geometry, and basal topography. Data sets processed and analyzed prove to be in agreement with the shallow environment characteristics determined by direct observation and previously obtained with commercial GPRs. From a geoelectrical point of view, massive ice containing a small amount of impurities can be approximate as a rather homogeneous medium. A massive ice unit will appear on a radargram as an area with no noticeable signal return, due to the little backscattered signal. Ice is also a low conductivity medium which leads to a deep penetration of the electromagnetic waves. The radargrams obtained from WISDOM data are consistent with

The electrical ground support equipment for the ExoMars 2016 DREAMS scientific instrument

NASA Astrophysics Data System (ADS)

Molfese, C.; Schipani, P.; Marty, L.; Esposito, F.; D'Orsi, S.; Mannetta, M.; Debei, S.; Bettanini, C.; Aboudan, A.; Colombatti, G.; Mugnuolo, R.; Marchetti, E.; Pirrotta, S.

2014-08-01

This paper describes the Electrical Ground Support Equipment (EGSE) of the Dust characterization, Risk assessment, and Environment Analyser on the Martian Surface (DREAMS) scientific instrument, an autonomous surface payload package to be accommodated on the Entry, Descendent and landing Module (EDM) of the ExoMars 2016 European Space Agency (ESA) mission. DREAMS will perform several kinds of measurements, such as the solar irradiance with different optical detectors in the UVA band (315-400nm), NIR band (700-1100nm) and in "total luminosity" (200 -1100 nm). It will also measure environmental parameters such as the intensity of the electric field, temperature, pressure, humidity, speed and direction of the wind. The EGSE is built to control the instrument and manage the data acquisition before the integration of DREAMS within the Entry, Descendent and landing Module (EDM) and then to retrieve data from the EDM Central Checkout System (CCS), after the integration. Finally it will support also the data management during mission operations. The EGSE is based on commercial off-the-shelf components and runs custom software. It provides power supply and simulates the spacecraft, allowing the exchange of commands and telemetry according to the protocol defined by the spacecraft prime contractor. This paper describes the architecture of the system, as well as its functionalities to test the DREAMS instrument during all development activities before the ExoMars 2016 launch.

In Situ Detection of Organic Molecules on the Martian Surface With the Mars Organic Molecule Analyzer (MOMA) on Exomars 2018

NASA Technical Reports Server (NTRS)

Li, Xiang; Brinckerhoff, William B.; Pinnick, Veronica T; van Amerom, Friso H. W.; Danell, Ryan M.; Arevalo, Ricardo D., Jr.; Getty, Stephanie; Mahaffy, Paul R.

2015-01-01

The Mars Organic Molecule Analyzer (MOMA) investigation on the 2018 ExoMars rover will examine the chemical composition of samples acquired from depths of up to two meters below the martian surface, where organics may be protected from radiative and oxidative degradation. The MOMA instrument is centered around a miniaturized linear ion trap (LIT) that facilitates two modes of operation: i) pyrolysisgas chromatography mass spectrometry (pyrGC-MS); and, ii) laser desorptionionization mass spectrometry (LDI-MS) at ambient Mars pressures. The LIT also enables the structural characterization of complex molecules via complementary analytical capabilities, such as multi-frequency waveforms (i.e., SWIFT) and tandem mass spectrometry (MSMS). When combined with the complement of instruments in the rovers Pasteur Payload, MOMA has the potential to reveal the presence of a wide range of organics preserved in a variety of mineralogical environments, and to begin to understand the structural character and potential origin of those compounds.

Assembly processes comparison for a miniaturized laser used for the Exomars European Space Agency mission

NASA Astrophysics Data System (ADS)

Ribes-Pleguezuelo, Pol; Inza, Andoni Moral; Basset, Marta Gilaberte; Rodríguez, Pablo; Rodríguez, Gemma; Laudisio, Marco; Galan, Miguel; Hornaff, Marcel; Beckert, Erik; Eberhardt, Ramona; Tünnermann, Andreas

2016-11-01

A miniaturized diode-pumped solid-state laser (DPSSL) designed as part of the Raman laser spectrometer (RLS) instrument for the European Space Agency (ESA) Exomars mission 2020 is assembled and tested for the mission purpose and requirements. Two different processes were tried for the laser assembling: one based on adhesives, following traditional laser manufacturing processes; another based on a low-stress and organic-free soldering technique called solderjet bumping technology. The manufactured devices were tested for the processes validation by passing mechanical, thermal cycles, radiation, and optical functional tests. The comparison analysis showed a device improvement in terms of reliability of the optical performances from the soldered to the assembled by adhesive-based means.

The Mars Organic Molecule Analyzer (MOMA) Instrument: Characterization of Organic Material in Martian Sediments

PubMed Central

Goesmann, Fred; Brinckerhoff, William B.; Raulin, François; Danell, Ryan M.; Getty, Stephanie A.; Siljeström, Sandra; Mißbach, Helge; Steininger, Harald; Arevalo, Ricardo D.; Buch, Arnaud; Freissinet, Caroline; Grubisic, Andrej; Meierhenrich, Uwe J.; Pinnick, Veronica T.; Stalport, Fabien; Szopa, Cyril; Vago, Jorge L.; Lindner, Robert; Schulte, Mitchell D.; Brucato, John Robert; Glavin, Daniel P.; Grand, Noel; Li, Xiang; van Amerom, Friso H. W.

2017-01-01

Abstract The Mars Organic Molecule Analyzer (MOMA) instrument onboard the ESA/Roscosmos ExoMars rover (to launch in July, 2020) will analyze volatile and refractory organic compounds in martian surface and subsurface sediments. In this study, we describe the design, current status of development, and analytical capabilities of the instrument. Data acquired on preliminary MOMA flight-like hardware and experimental setups are also presented, illustrating their contribution to the overall science return of the mission. Key Words: Mars—Mass spectrometry—Life detection—Planetary instrumentation. Astrobiology 17, 655–685.

Mars rotation determination from a moving rover using Doppler tracking data: What could be done?

NASA Astrophysics Data System (ADS)

Le Maistre, Sebastien; Rosenblatt, Pascal; Dehant, Veronique; Marty, Jean-Charles; Yseboodt, Marie

2018-09-01

This paper is a case study providing some insights on what improvement could be achieved on the Mars Orientation and rotation Parameters (MOP) determination using radio tracking data from a moving rover. Thanks to high-performance mobility systems onboard new generation of rovers like ExoMars 2020, the position of the rover can be precisely known with respect to its previous position. This characteristic, together with the long life of the rovers and their steerable high-gain-antenna communication system, is shown here to provide an unexpected opportunity to improve the MOP determination. This paper presents the results of numerical simulations involving radio-science experiments between the moving rover and the Earth ground stations as well as between the rover and an orbiting spacecraft. The benefits of combining both links (direct-to-Earth and rover-orbiter) for the MOP determination is also assessed. The impacts of the spacecraft position accuracy as well as the frequency band used to communicate with it are quantified. It is shown that, after one Martian year of operation, the polar motion could be determined with 5 milliarcsecond (mas) of precision (formal error) from the rover-orbiter Doppler link, while it cannot be determined with usual equatorial lander-to-Earth radio link. This would allow for the first time the direct detection of the Chandler wobble amplitude in the polar motion of Mars, which is an important quantity to constrain the planet interior and atmospheric models. Although the moving rover Doppler data alone barely improve the current precision on the other MOP (like the length-of-day and nutation), a combination of those together with historical and future lander data would definitely help to fill gaps in the MOP signal and to decorrelate between the estimated parameters, thereby reducing the uncertainties in their determination.

Evaluation of the first simulation tool to quantitatively interpret the measurements of the ExoMars mission's Wisdom GPR

NASA Astrophysics Data System (ADS)

Dorizon, Sophie; Ciarletti, Valérie

2013-04-01

The Water Ice Sub-surface Deposits Observation on Mars (WISDOM) (500MHz - 3GHz) GPR is one of the instruments that have been selected as part of the Pasteur payload of ESA's 2018 ExoMars Rover mission. One of the main scientific objectives of the mission is to characterize the nature of the shallow sub-surface on Mars and WISDOM has been designed to explore the first 3 meters of the sub-surface with a vertical resolution of a few centimetres. Laboratory and field tests using the prototype developed for the ExoMars mission by LATMOS (Laboratoire Atmosphère, Milieux, Observations Spatiales) in collaboration with the AOB (Bordeaux) and the university of Dresden (Germany) are regularly performed to assess and improve the radar performances. In order to quantitatively interpret the experimental data obtained, we developed a simulation tool based on ray-tracing. This code proves to be a fast practical way even if simplified to help radargrams interpretation. The WISDOM GPR, unlike most traditional GPRs, is operated approximately 30 centimetres above the surface. This configuration implies that the propagation between the antenna and the surface cannot be neglected especially because the instrument's aim is to characterise the very shallow subsurface. As a consequence, while we can draw advantage of this specific configuration by using the surface echo's amplitude to retrieve information about the top layer's roughness and permittivity value, precise location of buried reflector becomes more complicated. Indeed, the signature distinctive of individual reflectors buried in the sub-surface is not more an exact mathematical hyperbola. When the individual reflector is buried deep enough in the subsurface, the adjustment by an hyperbolic function still allows the retrieval of the reflector's location and the permittivity value of the surrounding medium. But in case of a reflector closer to the surface, the approximation is no longer valid. We propose a robust model adjustment

Modelling of EISS GPR's electrical and magnetic antennas for ExoMars mission

NASA Astrophysics Data System (ADS)

Biancheri-Astier, M.; Ciarletti, V.; Reineix, A.; Corbel, C.; Dolon, F.; Simon, Y.; Caudoux, C.; Lapauw, L.; Berthelier, Jj.; Ney, R.

2009-04-01

Despite several past and present missions to Mars, very little information is available on its subsurface. One of the scientific objectives of the European ExoMars mission (ESA) is to characterize the water / geochemical environment as a function of depth and investigate the planet subsurface to better understand the evolution and habitability of the planet. The electromagnetic survey of subsurface will provide a nondestructive way to probe the subsurface and look for potential deep liquid water reservoirs. The LATMOS (ex CETP) is currently developing a ground penetrating radar (GPR) called EISS "Electromagnetic Investigation of the Sub Surface", which is a enhanced version of the TAPIR "Terrestrial and Planetary Imaging Radar", developed in the frame of the Netlander mission cancelled in 2004. The GPR main objective is to perform sounding of the sub-surface down to kilometric depth. EISS is an impulse GPR operating, from the Martian surface, at HF frequencies (~ 2-4MHz) with a wide bandwidth (100kHz-5MHz). EISS can operate in four modes: impedance measurement, mono and bi-static survey, passive mode. The EISS innovative concept is based on the use of the fixed station (Lander) and mobile rover to conduct subsurface surveys of the area visited by the Rover. The work at HF frequencies, EISS uses a half-wave resistively loaded dipole electrical antenna i.e. two monopoles 35 meters long each to transmit (and also receive in mono-static mode) the signal. The resistive profile of the antenna follows a Wu-King profile which is optimized to transmit the pulse without noticeable distortion and avoid ringing. The two monopoles will be deployed in roughly opposite directions on the surface of Mars. The exact value of the direction of deployment for each monopole will be chosen in order to minimize the contact with the Lander structure, avoid obstacles and the solar panels still ensuring a good coverage of the whole area. In bi-static mode, the signal is received with a small

Ma_MISS on ExoMars: Mineralogical Characterization of the Martian Subsurface

NASA Astrophysics Data System (ADS)

De Sanctis, Maria Cristina; Altieri, Francesca; Ammannito, Eleonora; Biondi, David; De Angelis, Simone; Meini, Marco; Mondello, Giuseppe; Novi, Samuele; Paolinetti, Riccardo; Soldani, Massimo; Mugnuolo, Raffaele; Pirrotta, Simone; Vago, Jorge L.; Ma_MISS Team

2017-07-01

The Ma_MISS (Mars Multispectral Imager for Subsurface Studies) experiment is the visible and near infrared (VNIR) miniaturized spectrometer hosted by the drill system of the ExoMars 2020 rover. Ma_MISS will perform IR spectral reflectance investigations in the 0.4-2.2 μm range to characterize the mineralogy of excavated borehole walls at different depths (between 0 and 2 m). The spectral sampling is about 20 nm, whereas the spatial resolution over the target is 120 μm. Making use of the drill's movement, the instrument slit can scan a ring and build up hyperspectral images of a borehole. The main goal of the Ma_MISS instrument is to study the martian subsurface environment. Access to the martian subsurface is crucial to our ability to constrain the nature, timing, and duration of alteration and sedimentation processes on Mars, as well as habitability conditions. Subsurface deposits likely host and preserve H2O ice and hydrated materials that will contribute to our understanding of the H2O geochemical environment (both in the liquid and in the solid state) at the ExoMars 2020 landing site. The Ma_MISS spectral range and sampling capabilities have been carefully selected to allow the study of minerals and ices in situ before the collection of samples. Ma_MISS will be implemented to accomplish the following scientific objectives: (1) determine the composition of subsurface materials, (2) map the distribution of subsurface H2O and volatiles, (3) characterize important optical and physical properties of materials (e.g., grain size), and (4) produce a stratigraphic column that will inform with regard to subsurface geological processes. The Ma_MISS findings will help to refine essential criteria that will aid in our selection of the most interesting subsurface formations from which to collect samples.

End-To-END Performance of the future MOMA intrument aboard the EXOMARS MISSION

NASA Astrophysics Data System (ADS)

Buch, A.; Pinnick, V. T.; Szopa, C.; Grand, N.; Danell, R.; van Amerom, F. H. W.; Freissinet, C.; Glavin, D. P.; Stalport, F.; Arevalo, R. D., Jr.; Coll, P. J.; Steininger, H.; Raulin, F.; Goesmann, F.; Mahaffy, P. R.; Brinckerhoff, W. B.

2016-12-01

After the SAM experiment aboard the curiosity rover, the Mars Organic Molecule Analyzer (MOMA) experiment aboard the future ExoMars mission will be the continuation of the search for the organic composition of the Mars surface with the advantage that the sample will be extracted as deep as 2 meters below the martian surface to minimize effects of radiation and oxidation on organic materials. To analyse the wide range of organic composition (volatile and non volatils compounds) of the martian soil MOMA is composed with an UV laser desorption / ionization (LDI) and a pyrolysis gas chromatography ion trap mass spectrometry (pyr-GC-ITMS). In order to analyse refractory organic compounds and chirality samples which undergo GC-ITMS analysis may be submitted to a derivatization process, consisting of the reaction of the sample components with specific reactants (MTBSTFA [1], DMF-DMA [2] or TMAH [3]). To optimize and test the performance of the GC-ITMS instrument we have performed several coupling tests campaigns between the GC, providing by the French team (LISA, LATMOS, CentraleSupelec), and the MS, providing by the US team (NASA, GSFC). Last campaign has been done with the ITU models wich is similar to the flight model and wich include the oven and the taping station providing by the German team (MPS). The results obtained demonstrate the current status of the end-to-end performance of the gas chromatography-mass spectrometry mode of operation. References:[1] Buch, A. et al. (2009) J chrom. A, 43, 143-151. [2] Freissinet et al. (2011) J Chrom A, 1306, 59-71. [3] Geffroy-Rodier, C. et al. (2009) JAAP, 85, 454-459. Acknowledgements: Funding provided by the Mars Exploration Program (point of contact, George Tahu, NASA/HQ). MOMA is a collaboration between NASA and ESA (PI Goesmann, MPS). MOMA-GC team acknowledges support from the French Space Agency (CNES), French National Programme of Planetology (PNP), National French Council (CNRS), Pierre Simon Laplace Institute.

WISDOM measurements in a cold artificial and controlled environment

NASA Astrophysics Data System (ADS)

Dechambre, M.; Saintenoy, A.; Ciarletti, V.; Biancheri-Astier, M.; Costard, F.; Hassen-Khodja, R.

2011-10-01

The WISDOM (500MHz - 3GHz) GPR is one of the instruments that have been selected as part of the Pasteur payload of ESA's 2018 ExoMars Rover mission. One of the main scientific objectives of the mission is to characterize the nature of the shallow sub-surface on Mars and WISDOM has been designed to explore the first ~ 3 meters of the subsurface with a vertical resolution of a few centimetres. Full polarimetric measurements in cold artificial and controlled conditions have been performed by the prototype to illustrate and quantify the instrument performance. Preliminary results are presented.

Searching for Life on Mars: Selection of Molecular Targets for ESA's Aurora ExoMars Mission

NASA Astrophysics Data System (ADS)

Parnell, John; Cullen, David; Sims, Mark R.; Bowden, Stephen; Cockell, Charles S.; Court, Richard; Ehrenfreund, Pascale; Gaubert, Francois; Grant, William; Parro, Victor; Rohmer, Michel; Sephton, Mark; Stan-Lotter, Helga; Steele, Andrew; Toporski, Jan; Vago, Jorge

2007-08-01

The European Space Agency's ExoMars mission will seek evidence of organic compounds of biological and non-biological origin at the martian surface. One of the instruments in the Pasteur payload may be a Life Marker Chip that utilizes an immunoassay approach to detect specific organic molecules or classes of molecules. Therefore, it is necessary to define and prioritize specific molecular targets for antibody development. Target compounds have been selected to represent meteoritic input, fossil organic matter, extant (living, recently dead) organic matter, and contamination. Once organic molecules are detected on Mars, further information is likely to derive from the detailed distribution of compounds rather than from single molecular identification. This will include concentration gradients beneath the surface and gradients from generic to specific compounds. The choice of biomarkers is informed by terrestrial biology but is wide ranging, and nonterrestrial biology may be evident from unexpected molecular distributions. One of the most important requirements is to sample where irradiation and oxidation are minimized, either by drilling or by using naturally excavated exposures. Analyzing regolith samples will allow for the search of both extant and fossil biomarkers, but sequential extraction would be required to optimize the analysis of each of these in turn.

Searching for life on Mars: selection of molecular targets for ESA's aurora ExoMars mission.

PubMed

Parnell, John; Cullen, David; Sims, Mark R; Bowden, Stephen; Cockell, Charles S; Court, Richard; Ehrenfreund, Pascale; Gaubert, Francois; Grant, William; Parro, Victor; Rohmer, Michel; Sephton, Mark; Stan-Lotter, Helga; Steele, Andrew; Toporski, Jan; Vago, Jorge

2007-08-01

The European Space Agency's ExoMars mission will seek evidence of organic compounds of biological and non-biological origin at the martian surface. One of the instruments in the Pasteur payload may be a Life Marker Chip that utilizes an immunoassay approach to detect specific organic molecules or classes of molecules. Therefore, it is necessary to define and prioritize specific molecular targets for antibody development. Target compounds have been selected to represent meteoritic input, fossil organic matter, extant (living, recently dead) organic matter, and contamination. Once organic molecules are detected on Mars, further information is likely to derive from the detailed distribution of compounds rather than from single molecular identification. This will include concentration gradients beneath the surface and gradients from generic to specific compounds. The choice of biomarkers is informed by terrestrial biology but is wide ranging, and nonterrestrial biology may be evident from unexpected molecular distributions. One of the most important requirements is to sample where irradiation and oxidation are minimized, either by drilling or by using naturally excavated exposures. Analyzing regolith samples will allow for the search of both extant and fossil biomarkers, but sequential extraction would be required to optimize the analysis of each of these in turn.

Strengthening the Mars Telecommunications Network

NASA Image and Video Library

2016-11-29

On Nov. 22, 2016, a NASA radio aboard the European Space Agency's (ESA's) Trace Gas Orbiter, which arrived at Mars the previous month, succeeded in its first test of receiving data transmitted from NASA Mars rovers, both Opportunity and Curiosity. This graphic depicts the geometry of Opportunity transmitting data to the orbiter, using the ultra-high frequency (UHF) band of radio wavelengths. The orbiter received that data using one of its twin Electra UHF-band radios. Data that the orbiter's Electra received from the two rovers was subsequently transmitted from the orbiter to Earth, using the orbiter's main X-band radio. The Trace Gas Orbiter is part of ESA's ExoMars program. During the initial months after its Oct. 19, 2016, arrival, it is flying in a highly elliptical orbit. Each loop takes 4.2 days to complete, with distances between the orbiter and the planet's surface ranging from about 60,000 miles (about 100,000 kilometers) to less than 200 miles (less than 310 kilometers). Later, the mission will reshape the orbit to a near-circular path about 250 miles (400 kilometers) above the surface of Mars. Three NASA orbiters and one other ESA orbiter currently at Mars also have relayed data from Mars rovers to Earth. This strategy enables receiving much more data from the surface missions than would be possible with a direct-to-Earth radio link from rovers or stationary landers. Successful demonstration of the capability added by the Trace Gas Orbiter strengthens and extends the telecommunications network at Mars for supporting future missions to the surface of the Red Planet. http://photojournal.jpl.nasa.gov/catalog/PIA21139

Mars Reconnaissance Orbiter Navigation Strategy for Dual Support of Insight and ExoMars Entry, Descent and Landing Demonstrator Module in 2016

NASA Technical Reports Server (NTRS)

Wagner, Sean V.; Menon, Premkumar R.; Chung, Min-Kun J.; Williams, Jessica L.

2015-01-01

Mars Reconnaissance Orbiter (MRO) will support NASA's InSight Mission and ESA's ExoMars Entry, Descent and Landing Demonstrator Module (EDM) in the fall of 2016 when both landers arrive at Mars. MRO provided relay support during the Entry, Descent and Landing (EDL) sequences of Mars Phoenix Lander in 2008 and the Mars Science Laboratory in 2012. Unlike these missions, MRO will coordinate between two EDL events separated by only three weeks: InSight on September 28, 2016 and EDM on October 19, 2016. This paper describes MRO Navigation's maneuver strategy to move MRO's ascending node to meet the In- Sight EDL phasing requirement and support EDM.

A predictive wheel-soil interaction model for planetary rovers validated in testbeds and against MER Mars rover performance data

NASA Astrophysics Data System (ADS)

Richter, L.; Ellery, A.; Gao, Y.; Michaud, S.; Schmitz, N.; Weiss, S.

Successful designs of vehicles intended for operations on planetary objects outside the Earth demand, just as for terrestrial off-the-road vehicles, a careful assessment of the terrain relevant for the vehicle mission and predictions of the mobility performance to allow rational trade-off's to be made for the choice of the locomotion concept and sizing. Principal issues driving the chassis design for rovers are the stress-strain properties of the planetary surface soil, the distribution of rocks in the terrain representing potential obstacles to movement, and the gravity level on the celestial object in question. Thus far, planetary rovers have been successfully designed and operated for missions to the Earth's moon and to the planet Mars, including NASA's Mars Exploration Rovers (MER's) `Spirit' and `Opportunity' being in operation on Mars since their landings in January 2004. Here we report on the development of a wheel-soil interaction model with application to wheel sizes and wheel loads relevant to current and near-term robotic planetary rovers, i.e. wheel diameters being between about 200 and 500 mm and vertical quasistatic wheel loads in operation of roughly 100 to 200 N. Such a model clearly is indispensable for sizings of future rovers to analyse the aspect of rover mobility concerned with motion across soils. This work is presently funded by the European Space Agency (ESA) as part of the `Rover Chassis Evaluation Tools' (RCET) effort which has developed a set of S/W-implemented models for predictive mobility analysis of rovers in terms of movement on soils and across obstacles, coupled with dedicated testbeds to validate the wheel-soil models. In this paper, we outline the details of the wheel-soil modelling performed within the RCET work and present comparisons of predictions of wheel performance (motion resistance, torque vs. slip and drawbar pull vs. slip) for specific test cases with the corresponding measurements performed in the RCET single wheel

Detecting Molecular Signatures of Life on Mars: the Life Marker Chip (lmc) Instrument

NASA Astrophysics Data System (ADS)

Derveni, Mariliza

In recent years, the rise of interest in planetary exploration and the emergence of Astrobiology as a promising field of research have lead to a number of programmes aiming to develop sensitive instruments for the detection of the molecular signatures of life in extreme environments. An antibody assay-based life detection instrument, the Life Marker Chip (LMC), is currently under development by a UK-lead international consortium for the European Space Agency's (ESA) ExoMars rover. This forms part of the joint ESA/NASA Mars exploration programme with the ExoMars Rover currently scheduled for launch in 2018. The organic molecules targeted for Life detection by the LMC are based on an assumption of "Earth-like" Life on Mars -extinct and/or extant. The molecular targets for the LMC have been chosen to represent markers of extinct Life, extant Life, abiotic chemistry (e.g. of meteoritic origin) and mission-borne Earth contamination. The LMC incorporates integrated liquid sample extraction and processing for dry Martian samples, which will be collected from up to 2m below the surface of Mars, where organic molecules, if present, are expected to be better preserved. The core technology of the LMC is a combination of optical evanescent waveguides, micro-fluidics, immuno-microarrays with fluorescent labels and CCD detector readout. Phage display recombinant antibody technology has been employed in order to acquire antibodies against a number of the LMC target molecules. The LMC hardware is currently in a breadboard phase of development. The recombinant antibody development for LMC targets is an on-going project, and testing of Earth-analogue Martian samples has been initiated

Development and Qualification of an Antenna Pointing Mechanism for the ExoMars High-Gain Antenna

NASA Astrophysics Data System (ADS)

St-Andre, Stephane; Dumais, Marie-Christine; Lebel, Louis-Philippe; Langevin, Jean-Paul; Horth, Richard; Winton, Alistair; Lebleu, Denis

2015-09-01

The European Space Agency ExoMars 2016 mission required a gimbaled High Gain Antenna (HGA) for orbiter-to-earth communications. The ExoMars Program is a cooperative program between ESA and ROSCOSMOS with participation of NASA. The ExoMars Program industrial consortium is led by THALES ALENIA SPACE.This paper presents the design and qualification test results of the Antenna Pointing Mechanism (APM) used to point the HGA towards Earth. This electrically redundant APM includes motors, drive trains, optical encoders, cable cassette and RF Rotary Joints.Furthermore, the paper describes the design, development and the qualification approach applied to this APM. The design challenges include a wide pointing domain necessary to maximise the communication duty cycle during the early operation phase, the interplanetary cruise phase and during the mission’s orbital science phase. Other design drivers are an extended rotation cycle life with very low backlash yielding little wear and accurate position feedback on both axes. Major challenges and related areas of development include:• Large moments are induced on the APM due to aerobraking forces when the Mars atmosphere is used to slow the orbiter into its science mission orbit,• Thermal control of the critical components of the APM due to the different environments of the various phases of the mission. Also, the large travel range of the actuators complicated the radiator design in order to maintain clearances and to avoid overheating.• The APM, with a mass less than 17.5 kg, is exposed to a demanding dynamic environment due to its mounting on the spacecraft thrust tube and aggravated by its elevated location on the payload.• Power and Data transmission between elevation and azimuth axes through a compact large rotation range spiral type cable cassette.• Integration of a 16 bit redundant encoder on both axes for position feedback: Each encoder is installed on the back of a rotary actuator and is coupled using the

Development of a Low Power Gas Chromatograph-Mass Spectrometer for In-Situ Detection of Organics in Martian Soil

NASA Technical Reports Server (NTRS)

Pinnick, Veronica; Buch, Arnaud; VanAmerom, Friso H. W.; Danell, Ryan M.; Brinckerhoff, William; Mahaffy, Paul; Cotter, Robert J.

2011-01-01

The Mars Organic Molecule Analyzer (MOMA) is a joint venture by NASA and the European Space Agency (ESA) to develop a sensitive, light-weight, low-power mass spectrometer for chemical analysis on Mars. MOMA is a key analytical instrument aboard the 2018 ExoMars rover mission seeking signs of past or present life. The current prototype was built to demonstrate operation of gas chromatography (OC) and laser desorption (LD) mass spectrometry under martian ambient conditions (5-7 Torr of CO2-rich atmosphere). Recent reports have discussed the MO MA concept, design and performance. Here, we update the current prototype performance, focusing specifically on the GCMS mode.

Urey onboard Exomars: Searching for life

NASA Astrophysics Data System (ADS)

Ehrenfreund, Pascale

Exomars is the flagship mission of the European exploration program Aurora. The main goal of the Exomars mission is to further characterize the environment on Mars and to search for life. Data from recent Mars missions indicate the presence of liquid water for a geologically relevant period of time. If life arose during that period, evidence in the form of organic compounds might still be present on Mars today. A fundamental challenge ahead for the Exomars mission is to search for extinct and extant life using a sophisticated drill and innovative life detection instruments. Urey: Mars Organic and Oxidant Detector has been selected for the Pasteur payload and is considered a key instrument to achieve the mission's scientific objectives. Urey will target several key classes of organic molecules such as amino acids, nucleobases, aminosugars as well as polycyclic aromatic hydrocrabon (PAHs) using state-of-the-art analytical methods. The sensitivity of Urey to detect organic compounds in the Martian regolith is unprecedented (part-per-trillions). Efficient extraction of organic molecules using a sub-critical water extractor and subsequent concentration through sublimation renders a sample that is best suited to be analyzed by the sensitive mµCE system. The capability of the mµCE component to distinguish chiral amino acids will give direct evidence for abiotic or biotic compound origin. Another Urey component, the Mars Oxidation Instument, will deploy chemoresistor oxidant sensors to take complementary measurements evaluating the survival potential of organic compounds in the environment. We report on the progress of instrument development and related field tests in the Atacama desert.

Mobile Payload Element (MPE): Concept study for a sample fetching rover for the ESA Lunar Lander Mission

NASA Astrophysics Data System (ADS)

Haarmann, R.; Jaumann, R.; Claasen, F.; Apfelbeck, M.; Klinkner, S.; Richter, L.; Schwendner, J.; Wolf, M.; Hofmann, P.

2012-12-01

In late 2010, the DLR Space Administration invited the German industry to submit a proposal for a study about a Mobile Payload Element (MPE), which could be a German national contribution to the ESA Lunar Lander Mission. Several spots in the south polar region of the moon come into consideration as landing site for this mission. All possible spots provide sustained periods of solar illumination, interrupted by darkness periods of several 10 h. The MPE is outlined to be a small, autonomous, innovative vehicle in the 10 kg class for scouting and sampling the environment in the vicinity of the lunar landing site. The novel capabilities of the MPE will be to acquire samples of lunar regolith from surface, subsurface as well as shadowed locations, define their geological context and bring them back to the lander. This will enable access to samples that are not contaminated by the lander descent propulsion system plumes to increase the chances of detecting any indigenous lunar volatiles contained within the samples. Kayser-Threde, as prime industrial contractor for Phase 0/A, has assembled for this study a team of German partners with relevant industrial and institutional competence in space robotics and lunar science. The primary scientific objective of the MPE is to acquire clearly documented samples and to bring them to the lander for analysis with the onboard Lunar Dust Analysis Package (L-DAP) and Lunar Volatile Resources Analysis Package (L-VRAP). Due to the unstable nature of volatiles, which are of particular scientific interest, the MPE design needs to provide a safe storage and transportation of the samples to the lander. The proposed MPE rover concept has a four-wheeled chassis configuration with active suspension, being a compromise between innovation and mass efficiency. The suspension chosen allows a compact stowage of the MPE on the lander as well as precise alignment of the solar generators and instruments. Since therefore no further complex mechanics are

End-To-END Performance of the Future MOMA Instrument Aboard the ExoMars Mission

NASA Astrophysics Data System (ADS)

Pinnick, V. T.; Buch, A.; Szopa, C.; Grand, N.; Danell, R.; Grubisic, A.; van Amerom, F. H. W.; Glavin, D. P.; Freissinet, C.; Coll, P. J.; Stalport, F.; Humeau, O.; Arevalo, R. D., Jr.; Brinckerhoff, W. B.; Steininger, H.; Goesmann, F.; Raulin, F.; Mahaffy, P. R.

2015-12-01

Following the SAM experiment aboard the Curiosity rover, the Mars Organic Molecule Analyzer (MOMA) experiment aboard the 2018 ExoMars mission will be the continuation of the search for organic matter on the Mars surface. One advancement with the ExoMars mission is that the sample will be extracted as deep as 2 meters below the Martian surface to minimize effects of radiation and oxidation on organic materials. To analyze the wide range of organic composition (volatile and non-volatile compounds) of the Martian soil, MOMA is equipped with a dual ion source ion trap mass spectrometer utilizing UV laser desorption / ionization (LDI) and pyrolysis gas chromatography (pyr-GC). In order to analyze refractory organic compounds and chiral molecules during GC-ITMS analysis, samples may be submitted to a derivatization process, consisting of the reaction of the sample components with specific reactants (MTBSTFA [1], DMF-DMA [2] or TMAH [3]). Previous experimental reports have focused on coupling campaigns between the breadboard versions of the GC, provided by the French team (LISA, LATMOS, CentraleSupelec), and the MS, provided by the US team (NASA-GSFC). This work focuses on the performance verification and optimization of the GC-ITMS experiment using the Engineering Test Unit (ETU) models which are representative of the form, fit and function of the flight instrument including a flight-like pyrolysis oven and tapping station providing by the German team (MPS). The results obtained demonstrate the current status of the end-to-end performance of the gas chromatography-mass spectrometry mode of operation. References: [1] Buch, A. et al. (2009) J Chrom. A, 43, 143-151. [2] Freissinet et al. (2011) J Chrom A, 1306, 59-71. [3] Geffroy-Rodier, C. et al. (2009) JAAP, 85, 454-459.

Performance Simulation & Engineering Analysis/Design and Verification of a Shock Mitigation System for a Rover Landing on Mars

NASA Astrophysics Data System (ADS)

Ullio, Roberto; Gily, Alessandro; Jones, Howard; Geelen, Kelly; Larranaga, Jonan

2014-06-01

In the frame of the ESA Mars Robotic Exploration Preparation (MREP) programme and within its Technology Development Plan [1] the activity "E913- 007MM Shock Mitigation Operating Only at Touch- down by use of minimalist/dispensable Hardware" (SMOOTH) was conducted under the framework of Rover technologies and to support the ESA MREP Mars Precision Lander (MPL) Phase A system study with the objectives to:• study the behaviour of the Sample Fetching Rover (SFR) landing on Mars on its wheels• investigate and implement into the design of the SFR Locomotion Sub-System (LSS) an impact energy absorption system (SMOOTH)• verify by simulation the performances of SMOOTH The main purpose of this paper is to present the obtained numerical simulation results and to explain how these results have been utilized first to iterate on the design of the SMOOTH concept and then to validate its performances.

HP3 on ExoMars - Cutting airbag cloths with the sharp tip of a mechanical mole

NASA Astrophysics Data System (ADS)

Krause, C.; Izzo, M.; Re, E.; Mehls, C.; Richter, L.; Coste, P.

2009-04-01

The HP3 - Heat Flow and Physical Properties Package - is planned to be one of the Humboldt lander-based instruments on the ESA ExoMars mission. HP3 will allow the measurement of the subsurface temperature gradient and physical as well as thermophysical properties of the subsurface regolith of Mars down to a depth of 5 meters. From these measurements, the planetary heat flux can be inferred. The HP³ instrument package consists of a mole trailing a package of thermal and electrical sensors into the regolith. Beside the payload elements Thermal Excitation and Measurement Suite and a Permittivity Probe the HP3 experiment includes sensors to detect the forward motion and the tilt of the HP3 payload compartment. The HP3 experiment will be integrated into the lander platform of the ExoMars mission. The original accommodation featured a deployment device or a robotic arm to place HP3 onto the soil outside the deflated lander airbags. To avoid adding such deployment devices, it was suggested that the HP3 mole should be capable of piercing the airbags under the lander. The ExoMars lander airbag is made of 4 Kevlar layers (2 abrasive and 2 bladders). A double fold of the airbag (a worst case) would represent a pile of 12 layers. An exploratory study has examined the possibility of piercing airbag cloths by adding sharp cutting blades on the tip of a penetrating mole. In the experimental setup representative layers were laid over a Mars soil simulant. Initial tests used a hammer-driven cutting tip and had moderate to poor results. More representative tests used a prototype of the HP3 mole and were fully successful: the default 4 layer configuration was pierced as well as the 12 layer configuration, the latter one within 3 hours and about 3000 mole strokes This improved behaviour is attributed to the use of representative test hardware where guidance and suppression of mole recoil were concerned. The presentation will provide an explanation of the technical requirements on

Monitoring the airborne dust and water vapor in the low atmosphere of Mars: the MEDUSA experiment for the ESA ExoMars mission

NASA Astrophysics Data System (ADS)

Esposito, Francesca; Colangeli, Luigi; Palumbo, Pasquale; Della Corte, Vincenzo; Molfese, Cesare; Merrison, Jonathan; Nornberg, Per; Lopez-Moreno, J. J.; Rodriguez Gomez, Julio

rates and geographic variability are matter of controversy. The instrument MEDUSA (Martian Environmental DUst Systematic Analyser) has been designed to measure directly and quantitatively in situ the cumulative dust mass flux and dust deposition rate, the physical and electrification properties, the size distribution of intercepted particles and the water vapour abundance versus time, a goal that has never been reached so far. MEDUSA has been selected by ESA as one of the environmental instruments to be included in the payload Humboldt of ExoMars lander.

Amorphous Rover

NASA Technical Reports Server (NTRS)

Curtis, Steven A.

2010-01-01

A proposed mobile robot, denoted the amorphous rover, would vary its own size and shape in order to traverse terrain by means of rolling and/or slithering action. The amorphous rover was conceived as a robust, lightweight alternative to the wheeled rover-class robotic vehicle heretofore used in exploration of Mars. Unlike a wheeled rover, the amorphous rover would not have a predefined front, back, top, bottom, or sides. Hence, maneuvering of the amorphous rover would be more robust: the amorphous rover would not be vulnerable to overturning, could move backward or sideways as well as forward, and could even narrow itself to squeeze through small openings.

Saga, A Small Advanced Geochemistry Assembly With Micro-rover For The Exploration Of Planetary Surfaces

NASA Astrophysics Data System (ADS)

Brueckner, J.; Saga Team

During future lander missions on Mars, Moon, or Mercury, it is highly advisable to extend the reach of instruments and to bring them to the actual sites of interest to measure in-situ selected surface samples (rocks, soils, or regolith). Particularly, geo- chemical measurements (determination of chemistry, mineralogy, and surface texture) are of utmost importance, because they provide key data on the nature of the sur- face samples. The obtained data will contribute to the classification of these samples. On Mars, weathering processes can also be studied provided some grinding tools are available. Also, the existence of ancient water activities, if any, can be searched for (e.g. sediments, hydroxides, hydrated minerals, or evaporates). The combined geo- chemical data sets of several samples and one/or several landing sites provide an im- portant base for the understanding of planetary surface processes and, hence, plan- etary evolution. A light-weight integrated instrument package and a micro-rover is proposed for future geochemical investigations. SAGA (Small Advanced Geochem- istry Assembly) will consist of several small geochemistry instruments and a tool that are packaged in a compact payload cab: the chemical Alpha Particle X-Ray Spec- trometer (APXS), the mineralogical Mössbauer Spectrometer (MIMOS), the textural close-up camera (MIROCAM), and a blower/grinder tool. These instruments have or will get flight heritage on upcoming ESA and NASA missions. The modularity of the concept permits to attach SAGA to any deployment device, specially, to the pro- posed small, lightweight micro-rover (dubbed SAGA?XT). Micro-rover technology has been developed for many years in Europe. One of the most advanced concepts is the tracked micro-rover SNanokhodT, developed recently in the frame of ESASs & cedil; Technology Research Programme (TRP). It has a total mass of about 3.5 kg (includ- ing payload and parts on the lander). This micro-rover is designed to drive to

The MicrOmega experiment onboard ExoMars rover: an IR hyperspectral microscope to analyze samples at the grain scale

NASA Astrophysics Data System (ADS)

Pilorget, C.; Bibring, J. P.; Berthe, M.

2011-10-01

The coupling between imaging and spectrometry has proved to be one of the most promising way to study remotely planetary objects [1][2]. The next step is to use this concept for in situ analyses. MicrOmega IR has been developed within this scope in the framework of the Exomars mission (Pasteur paylaod). It is an ultra miniaturized nearinfrared hyperspectral microscope dedicated to in situ analyses, with the goal to characterize the composition of Mars soil at almost its grain size scale, in a non destructive way. It will provide unique clues to trace back the history of Mars, and will contribute to assess Mars past and present astrobiological potential by detecting possible organic compounds within the samples. Results obtained on ground both on a representative breadboard of the instrument and with a demonstrator developed in the scope of the Phobos Grunt mission will be presented during the conference to demonstrate the instrument capabilities.

The new Planetary Science Archive (PSA): Exploration and discovery of scientific datasets from ESA's planetary missions

NASA Astrophysics Data System (ADS)

Martinez, Santa; Besse, Sebastien; Heather, Dave; Barbarisi, Isa; Arviset, Christophe; De Marchi, Guido; Barthelemy, Maud; Docasal, Ruben; Fraga, Diego; Grotheer, Emmanuel; Lim, Tanya; Macfarlane, Alan; Rios, Carlos; Vallejo, Fran; Saiz, Jaime; ESDC (European Space Data Centre) Team

2016-10-01

The Planetary Science Archive (PSA) is the European Space Agency's (ESA) repository of science data from all planetary science and exploration missions. The PSA provides access to scientific datasets through various interfaces at http://archives.esac.esa.int/psa. All datasets are scientifically peer-reviewed by independent scientists, and are compliant with the Planetary Data System (PDS) standards. The PSA is currently implementing a number of significant improvements, mostly driven by the evolution of the PDS standard, and the growing need for better interfaces and advanced applications to support science exploitation. The newly designed PSA will enhance the user experience and will significantly reduce the complexity for users to find their data promoting one-click access to the scientific datasets with more specialised views when needed. This includes a better integration with Planetary GIS analysis tools and Planetary interoperability services (search and retrieve data, supporting e.g. PDAP, EPN-TAP). It will be also up-to-date with versions 3 and 4 of the PDS standards, as PDS4 will be used for ESA's ExoMars and upcoming BepiColombo missions. Users will have direct access to documentation, information and tools that are relevant to the scientific use of the dataset, including ancillary datasets, Software Interface Specification (SIS) documents, and any tools/help that the PSA team can provide. A login mechanism will provide additional functionalities to the users to aid / ease their searches (e.g. saving queries, managing default views). This contribution will introduce the new PSA, its key features and access interfaces.

Assessment of Raman spectroscopy as a tool for the non-destructive identification of organic minerals and biomolecules for Mars studies

NASA Astrophysics Data System (ADS)

Jehlička, J.; Edwards, H. G. M.; Vítek, P.

2009-05-01

Several characteristic geological features found on the surface of Mars by planetary rovers suggest that a possible extinct biosphere could exist based on similar sources of energy as occurred on Earth. For this reason, analytical instrumental protocols for the detection of biomarkers in suitable geological matrices unequivocally have to be elaborated for future unmanned explorations including the forthcoming ESA ExoMars mission. As part of the Pasteur suite of analytical instrumentation on ExoMars, the Raman/LIBS instrument will seek elemental and molecular information about geological, biological and biogeological markers in the Martian record. A key series of experiments on terrestrial Mars analogues, of which this paper addresses a particularly important series of compounds, is required to obtain the Raman spectra of key molecules and crystals, which are characteristic for each biomarker. Here, we present Raman spectra of several examples of organic compounds which have been recorded non-destructively - higher n-alkanes, polycyclic aromatic hydrocarbons, carotenoids, salts of organic acids, pure crystalline terpenes as well as oxygen-containing organic compounds. In addition, the lower limit of β-carotene detection in sulphate matrices using Raman microspectroscopy was estimated.

Autonomous Surface Sample Acquisition for Planetary and Lunar Exploration

NASA Astrophysics Data System (ADS)

Barnes, D. P.

2007-08-01

network, and constitute the science targets for our autonomous sample acquisition work. Our PAT Lab. terrain has been designed to support our new rover chassis which is based upon the ExoMars rover Concept-E mechanics which were investigated during the ESA ExoMars Phase A study. The rover has 6 wheel drives, 6 wheels steering, and a 6 wheel walking capability. Mounted on the rover chassis is the UWA robotic arm and mast. We have designed and built a PanCam system complete with a computer controlled pan and tilt mechanism. The UWA PanCam is based upon the ExoMars PanCam (Phase A study) and hence supports two Wide Angle Cameras (WAC - 64 degree FOV), and a High Resolution Camera (HRC - 5 degree FOV). WAC separation is 500 mm. Software has been developed to capture images which form the data input into our on-board autonomous surface sample acquisition algorithms.

AOTF near-IR spectrometers for study of Lunar and Martian surface composition

NASA Astrophysics Data System (ADS)

Ivanov, A.; Korablev, O.; Mantsevich, S.; Vyazovetskiy, N.; Fedorova, A.; Evdokimova, N.; Stepanov, A.; Titov, A.; Kalinnikov, Y.; Kuzmin, R.; Kiselev, A.; Bazilevsky, A.; Bondarenko, A.; Dokuchaev, I.; Moiseev, P.; Victorov, A.; Berezhnoy, A.; Skorov, Y.; Bisikalo, D.; Velikodsky, Y.

2014-04-01

The series of the AOTF near-IR spectrometers is developed in Moscow Space Research Institute for study of Lunar and Martian surface composition in the vicinity of a lander or a rover. Lunar Infrared Spectrometer (LIS) is an experiment onboard Luna-Glob (launch in 2017) and Luna- Resurs (launch in 2019) Russian surface missions. It's a pencil-beam spectrometer to be pointed by a robotic arm of the landing module. The instrument's field of view (FOV) of 1° is co-aligned with the FOV(45°) of a stereo TV camera. Infrared Spectrometer for ExoMars (ISEM) is an experiment onboard ExoMars (launch in 2018) ESARoscosmos rover. It's spectrometer based on LIS with required redesign for ExoMars mission. The ISEM instrument is mounted on the rover's mast coaligned with the FOV (5°) of High Resolution camera (HRC). Spectrometers and are intended for study of the surface composition in the vicinity of the lander and rover. The spectrometers will provide measurements of selected surface areas in the spectral range of 1.15-3.3 μm. The spectral selection is provided by acoustooptic tunable filter (AOTF), which scans the spectral range sequentially. Electrical command of the AOTF allows selecting the spectral sampling, and permits a random access if needed.

Rover Tracks

NASA Image and Video Library

1997-07-07

Tracks made by the Sojourner rover are visible in this image, taken by one of the cameras aboard Sojourner on Sol 3. The tracks represent the rover maneuvering towards the rock dubbed "Barnacle Bill." The rover, having exited the lander via the rear ramp, first traveled towards the right portion of the image, and then moved forward towards the left where Barnacle Bill sits. The fact that the rover was making defined tracks indicates that the soil is made up of particles on a micron scale. http://photojournal.jpl.nasa.gov/catalog/PIA00633

How Habitable Might an Exo-Mars Be?

NASA Image and Video Library

2017-12-13

How habitable might an Exo-Mars be? It's a complex question but one that NASA's Mars Atmosphere and Volatile Evolution (MAVEN) mission can help answer. To receive the same amount of starlight as Mars receives from our Sun, a planet orbiting an M-type red dwarf would have to be positioned much closer to its star than Mercury is to the Sun. https://photojournal.jpl.nasa.gov/catalog/PIA22075

New perspectives for studying organics and the composition of Mars’ atmosphere with ExoMars / NOMAD

NASA Astrophysics Data System (ADS)

Liuzzi, Giuliano; Villanueva, Geronimo Luis; Mumma, Michael J.; Carine Vandaele, Ann; Thomas, Ian; Smith, Michael D.; Daerden, Frank; Ristic, Bojan; Patel, Manish; Bellucci, Giancarlo; Lopez-Moreno, Jose; NOMAD Team

2017-10-01

The ESA/Roscosmos Exomars Trace Gas Orbiter (TGO) mission carries a series of instruments, whose operativity is aimed to achieve unprecedented accuracy in the detection and characterization of spatial distribution and temporal cycles of a broad set of trace species, organics and key isotopologues on Mars. Besides this, the mission is designed for some other specific objectives, such as the mapping of CH4 and D/H isotopologic ratio.In this work, we essentially focus on one of the key payloads of ExoMars, the Nadir and Occultation for Mars Discovery (NOMAD) instrument. This is a grating spectrometer whose design is based on that of the SPICAV/SOIR instrument, already flown on board of Venus Express, and can operate both at the infrared (IR) and visible/UV wavelengths. In addition, the IR channel can be operated both in Solar Occultation (SO) mode, and in Limb Nadir Occultation (LNO), enabling the possibility of a characterization of both the vertical structure of the atmosphere and the mapping of the above cited atmospheric compounds on a global scale.To be prepared to exploit the outstanding possibilities and the high feasibility of the instrument to these science objectives, we have worked on the calibration of the instrument both in SO and LNO modes. Using a large subset of the calibration measurements acquired during the Mars Capture Orbit-1 phase (MCO-1), we have reckoned both the wavenumber calibration across all the spectral interval of the instrument, and characterized the response function of the Acousto-Optical Tunable Filter (AOTF) which selects diffraction orders. The results have been also used to elaborate a model of the instrumental response, and a quantitative model of the observed signal. Based on this, we also present some actual retrieval results on SO and LNO datasets acquired in November 2016 and March 2017, which will serve as a proxy for the forthcoming science operations (starting early 2018).Acknowledgments NASA’s Mars Exploration Program

Effects of simulated space radiation on immunoassay components for life-detection experiments in planetary exploration missions.

PubMed

Derveni, Mariliza; Hands, Alex; Allen, Marjorie; Sims, Mark R; Cullen, David C

2012-08-01

The Life Marker Chip (LMC) instrument is part of the proposed payload on the ESA ExoMars rover that is scheduled for launch in 2018. The LMC will use antibody-based assays to detect molecular signatures of life in samples obtained from the shallow subsurface of Mars. For the LMC antibodies, the ability to resist inactivation due to space particle radiation (both in transit and on the surface of Mars) will therefore be a prerequisite. The proton and neutron components of the mission radiation environment are those that are expected to have the dominant effect on the operation of the LMC. Modeling of the radiation environment for a mission to Mars led to the calculation of nominal mission fluences for proton and neutron radiation. Various combinations and multiples of these values were used to demonstrate the effects of radiation on antibody activity, primarily at the radiation levels envisaged for the ExoMars mission as well as at much higher levels. Five antibodies were freeze-dried in a variety of protective molecular matrices and were exposed to various radiation conditions generated at a cyclotron facility. After exposure, the antibodies' ability to bind to their respective antigens was assessed and found to be unaffected by ExoMars mission level radiation doses. These experiments indicated that the expected radiation environment of a Mars mission does not pose a significant risk to antibodies packaged in the form anticipated for the LMC instrument.

ESA's Planetary Science Archive: International collaborations towards transparent data access

NASA Astrophysics Data System (ADS)

Heather, David

The European Space Agency's (ESA) Planetary Science Archive (PSA) is the central repository for science data returned by all ESA planetary missions. Current holdings include data from Giotto, SMART-1, Cassini-Huygens, Mars Express, Venus Express, and Rosetta. In addition to the basic management and distribution of these data to the community through our own interfaces, ESA has been working very closely with international partners to globalize the archiving standards used and the access to our data. Part of this ongoing effort is channelled through our participation in the International Planetary Data Alliance (IPDA), whose focus is on allowing transparent and interoperable access to data holdings from participating Agencies around the globe. One major focus of this work has been the development of the Planetary Data Access Protocol (PDAP) that will allow for the interoperability of archives and sharing of data. This is already used for transparent access to data from Venus Express, and ESA are currently working with ISRO and NASA to provide interoperable access to ISRO's Chandrayaan-1 data through our systems using this protocol. Close interactions are ongoing with NASA's Planetary Data System as the standards used for planetary data archiving evolve, and two of our upcoming missions are to be the first to implement the new 'PDS4' standards in ESA: BepiColombo and ExoMars. Projects have been established within the IPDA framework to guide these implementations to try and ensure interoperability and maximise the usability of the data by the community. BepiColombo and ExoMars are both international missions, in collaboration with JAXA and IKI respectively, and a strong focus has been placed on close interaction and collaboration throughout the development of each archive. For both of these missions there is a requirement to share data between the Agencies prior to public access, as well as providing complete open access globally once the proprietary periods have

Rover Family Photo

NASA Technical Reports Server (NTRS)

2002-01-01

Members of the Mars Exploration Rovers Assembly, Test and Launch Operations team gather around Rover 2 and its predecessor, a flight spare of the Pathfinder mission's Sojourner rover, named Marie Curie.

Rover Family Photo

NASA Image and Video Library

2003-02-26

Members of the Mars Exploration Rovers Assembly, Test and Launch Operations team gather around NASA Rover 2 and its predecessor, a flight spare of the Pathfinder mission Sojourner rover, named Marie Curie.

MIMA, a miniaturized Fourier infrared spectrometer for Mars ground exploration: Part I. Concept and expected performance

NASA Astrophysics Data System (ADS)

Bellucci, G.; Saggin, B.; Fonti, S.; Biondi, D.; Cerulli, P.; De Luca, M.; Altieri, F.; Mattana, A.; Alberti, E.; Marzo, G.; Zasova, L.

2007-10-01

The Mars Infrared MApper (MIMA) is a FT-IR miniaturised spectrometer which is being developed for ESA ExoMars Pasteur mission. The Martian Infrared MApper Fourier Spectrometer is designed to provide remote measurements of mineralogy and atmosphere of the scene surrounding a Martian rover and guide it to key targets for detailed in situ measurements by other rover experiments. Among the main scientific objectives of the MIMA instrument are to assist the rover in rock/soils selection for further in-situ investigation and to identify rocks and soils on the Martian surface which provide evidence of past/present biological activity. The instrument is also designed to measure the water vapour abundance and vertical distribution and its diurnal and seasonal variation, dust opacity, optical properties, composition, diurnal and seasonal variation. The instrument is a double pendulum interferometer providing spectra in the 2 - 25 μm wavelength domain with a resolving power of 1000 at 2 μm and 80 at 25 μm. The radiometric performances are SNR > 40 in the near infrared and a NEDe = 0.002 in the thermal region. The instrument design is very compact, with a total mass of 1kg and an average power consumption of 5 W.

PRo3D®: A Tool for High Resolution Rendering and Geological Analysis of Martian Rover-Derived Digital Outcrop Models.

NASA Astrophysics Data System (ADS)

Gupta, S.; Barnes, R.; Ortner, T.; Huber, B.; Paar, G.; Muller, J. P.; Giordano, M.; Willner, K.; Traxler, C.; Juhart, K.; Fritz, L.; Hesina, G.; Tasdelen, E.

2015-12-01

exploitation of vision data from future missions, such as the 2018 ExoMars Rover and the NASA 2020 mission. The research leading to these results has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement n° 312377 PRoViDE.

MEDUSA: The ExoMars experiment for in-situ monitoring of dust and water vapour

NASA Astrophysics Data System (ADS)

Colangeli, L.; Lopez-Moreno, J. J.; Nørnberg, P.; Della Corte, V.; Esposito, F.; Mazzotta Epifani, E.; Merrison, J.; Molfese, C.; Palumbo, P.; Rodriguez-Gomez, J. F.; Rotundi, A.; Visconti, G.; Zarnecki, J. C.; The International Medusa Team

2009-07-01

Dust and water vapour are fundamental components of the Martian atmosphere. In view of tracing the past environmental conditions on Mars, that possibly favoured the appearing of life forms, it is important to study the present climate and its evolution. Here dust and water vapour have (and have had) strong influence. Of major scientific interest is the quantity and physical, chemical and electrical properties of dust and the abundance of water vapour dispersed in the atmosphere and their exchange with the surface. Moreover, in view of the exploration of the planet with automated systems and in the future by manned missions, it is of primary importance to analyse the hazards linked to these environmental factors. The Martian Environmental Dust Systematic Analyser (MEDUSA) experiment, included in the scientific payload of the ESA ExoMars mission, accommodates a complement of sensors, based on optical detection and cumulative mass deposition, that aims to study dust and water vapour in the lower Martian atmosphere. The goals are to study, for the first time, in-situ and quantitatively, physical properties of the airborne dust, including the cumulative dust mass flux, the dust deposition rate, the physical and electrification properties, the size distribution of sampled particles and the atmospheric water vapour abundance versus time.

A Martian Telecommunications Network: UHF Relay Support of the Mars Exploration Rovers by the Mars Global Surveyor, Mars Odyssey, and Mars Express Orbiters

NASA Technical Reports Server (NTRS)

Edwards, Charles D., Jr.; Barbieri, A.; Brower, E.; Estabrook, P.; Gibbs, R.; Horttor, R.; Ludwinski, J.; Mase, R.; McCarthy, C.; Schmidt, R.;

Broadband Ground Penetrating Radar with conformal antennas for subsurface imaging from a rover

NASA Astrophysics Data System (ADS)

Stillman, D. E.; Oden, C. P.; Grimm, R. E.; Ragusa, M.

2015-12-01

Ground-Penetrating Radar (GPR) allows subsurface imaging to provide geologic context and will be flown on the next two martian rovers (WISDOM on ExoMars and RIMFAX on Mars 2020). The motivation of our research is to minimize the engineering challenges of mounting a GPR antenna to a spacecraft, while maximizing the scientific capabilities of the GPR. The scientific capabilities increase with the bandwidth as it controls the resolution. Furthermore, ultra-wide bandwidth surveys allow certain mineralogies and rock units to be discriminated based on their frequency-dependent EM or scattering properties. We have designed and field-tested a prototype GPR that utilizes bi-static circularly polarized spiral antennas. Each antenna has a physical size of 61 x 61 x 4 cm, therefore two antennas could be mounted to the underbelly of a MSL-class rover. Spiral antennas were chosen because they have an inherent broadband response and provide a better low frequency response compared with similarly sized linearly polarized antennas. A horizontal spiral radiator emits energy both upward and downward directions. After the radiator is mounted to a metal surface (i.e. the underside of a rover), a cavity is formed that causes the upward traveling energy to reverberate and cause unwanted interference. This interference is minimized by 1) using a high metallization ratio on the spiral to reduce cavity emissions, and 2) placing absorbing material inside the cavity. The resulting antennas provide high gain (0 to 8 dBi) from 200 to 1000 MHz. The low frequency response can be improved by increasing the antenna thickness (i.e., cavity depth). In an initial field test, the antennas were combined with impulse GPR electronics that had ~140 dB of dynamic range (not including antennas) and a sand/clay interface 7 feet deep was detected. To utilize the full bandwidth the antennas, a gated Frequency Modulated Continuous Waveform system will be developed - similar to RIMFAX. The goal is to reach a

NASA puts JWST Back on Track, but ExoMars Collaboration Looks Unlikely; Marsquakes happening yesterday, geologically; UFOs from black holes control shape of galaxies

NASA Astrophysics Data System (ADS)

2012-04-01

NASA's funding plans put the James Webb Space Telescope firmly on track for a launch in 2018, to widespread relief, but the essentially flat funding settlement for 2013 overall means something has to go. Planetary science seems hardest hit, with the especial blow for European planetary scientists of NASA pulling out of ExoMars, the ESA-led mission to look for signs of life on Mars. Images from the High Resolution Imaging Science Experiment have shown boulders displaced by seismic activity on Mars in the past few million years, and possibly much more recently than that. The bigger the supermassive black hole at the centre of a galaxy, the faster the stars in the galactic bulge rotate. Why this should be so has been something of a puzzle, but now a mechanism that is both powerful and common enough to do the job has been identified.

Charged particles radiation measurements with Liulin-MO dosimeter of FREND instrument aboard ExoMars Trace Gas Orbiter during the transit and in high elliptic Mars orbit

NASA Astrophysics Data System (ADS)

Semkova, Jordanka; Koleva, Rositza; Benghin, Victor; Dachev, Tsvetan; Matviichuk, Yuri; Tomov, Borislav; Krastev, Krasimir; Maltchev, Stephan; Dimitrov, Plamen; Mitrofanov, Igor; Malahov, Alexey; Golovin, Dmitry; Mokrousov, Maxim; Sanin, Anton; Litvak, Maxim; Kozyrev, Andrey; Tretyakov, Vladislav; Nikiforov, Sergey; Vostrukhin, Andrey; Fedosov, Fedor; Grebennikova, Natalia; Zelenyi, Lev; Shurshakov, Vyacheslav; Drobishev, Sergey

2018-03-01

ExoMars is a joint ESA-Rosscosmos program for investigating Mars. Two missions are foreseen within this program: one consisting of the Trace Gas Orbiter (TGO), that carries scientific instruments for the detection of trace gases in the Martian atmosphere and for the location of their source regions, plus an Entry, Descent and landing demonstrator Module (EDM), launched on March 14, 2016; and the other, featuring a rover and a surface platform, with a launch date of 2020. On October 19, 2016 TGO was inserted into high elliptic Mars' orbit. The dosimetric telescope Liulin-MO for measuring the radiation environment onboard the ExoMars 2016 TGO is a module of the Fine Resolution Epithermal Neutron Detector (FREND). Here we present first results from measurements of the charged particle fluxes, dose rates, Linear Energy Transfer (LET) spectra and estimation of dose equivalent rates in the interplanetary space during the cruise of TGO to Mars and first results from dosimetric measurements in high elliptic Mars' orbit. A comparison is made with the dose rates obtained by RAD instrument onboard Mars Science Laboratory during the cruise to Mars in 2011-2012 and with the Galactic Cosmic Rays (GCR) count rates provided by other particle detectors currently in space. The average measured dose rate in Si from GCR during the transit to Mars for the period April 22-September 15, 2016 is 372 ± 37 μGy d-1 and 390 ± 39 μGy d-1 in two perpendicular directions. The dose equivalent rate from GCR for the same time period is about 2 ± 0.3 mSv d-1. This is in good agreement with RAD results for radiation dose rate in Si from GCR in the interplanetary space, taking into account the different solar activity during the measurements of both instruments. About 10% increase of the dose rate, and 15% increase of the dose equivalent rate for 10.5 months flight is observed. It is due to the increase of Liulin-MO particle fluxes for that period and corresponds to the overall GCR intensity

Space qualification of an automotive microcontroller for the DREAMS-P/H pressure and humidity instrument on board the ExoMars 2016 Schiaparelli lander

NASA Astrophysics Data System (ADS)

Nikkanen, T.; Schmidt, W.; Harri, A.-M.; Genzer, M.; Hieta, M.; Haukka, H.; Kemppinen, O.

2015-10-01

Finnish Meteorological Institute (FMI) has developed a novel kind of pressure and humidity instrument for the Schiaparelli Mars lander, which is a part of the ExoMars 2016 mission of the European Space Agency (ESA) [1]. The DREAMS-P pressure instrument and DREAMS-H humidity instrument are part of the DREAMS science package on board the lander. DREAMS-P (seen in Fig. 1 and DREAMS-H were evolved from earlier planetary pressure and humidity instrument designs by FMI with a completely redesigned control and data unit. Instead of using the conventional approach of utilizing a space grade processor component, a commercial off the shelf microcontroller was selected for handling the pressure and humidity measurements. The new controller is based on the Freescale MC9S12XEP100 16-bit automotive microcontroller. Coordinated by FMI, a batch of these microcontroller units (MCUs) went through a custom qualification process in order to accept the component for spaceflight on board a Mars lander.

Micro-Ares, An electric field sensor for ExoMars 2016

NASA Astrophysics Data System (ADS)

Déprez, G.; Montmessin, F.; Witasse, O.; Lapauw, L.; Vivat, F.; Abbaki, S.; Granier, P.; Moirin, D.; Trautner, R.; Hassen-Khodja, R.; d'Almeida, E.; Chardenal, L.; Berthelier, J.-J.; Espositi, F.; Debei, S.; Rafkin, S.; Barth, E.

2015-10-01

For the past few years, LATMOS has been involved in the development of Micro-ARES, an electric field sensor part of the science payload (DREAMS) of the ExoMars 2016 Schiaparelli entry, descent and landing demonstratormodule (EDM). It is dedicated to the very first measurement and characterization of the Martian atmospheric electricity.

Rover Graphical Simulator

NASA Technical Reports Server (NTRS)

Bon, Bruce; Seraji, Homayoun

2007-01-01

Rover Graphical Simulator (RGS) is a package of software that generates images of the motion of a wheeled robotic exploratory vehicle (rover) across terrain that includes obstacles and regions of varying traversability. The simulated rover moves autonomously, utilizing reasoning and decision-making capabilities of a fuzzy-logic navigation strategy to choose its path from an initial to a final state. RGS provides a graphical user interface for control and monitoring of simulations. The numerically simulated motion is represented as discrete steps with a constant time interval between updates. At each simulation step, a dot is placed at the old rover position and a graphical symbol representing the rover is redrawn at the new, updated position. The effect is to leave a trail of dots depicting the path traversed by the rover, the distances between dots being proportional to the local speed. Obstacles and regions of low traversability are depicted as filled circles, with buffer zones around them indicated by enclosing circles. The simulated robot is equipped with onboard sensors that can detect regional terrain traversability and local obstacles out to specified ranges. RGS won the NASA Group Achievement Award in 2002.

Rover 2 Moved to Workstand

NASA Technical Reports Server (NTRS)

2003-01-01

January 28, 2003

The Mars Exploration Rover -2 is moved to a workstand in the Payload Hazardous Servicing Facility. Set to launch in 2003, the Mars. Exploration Rover Mission will consist of two identical rovers designed to cover roughly 110 yards (100 meters) each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, 2003, and the second rover a window opening June 25, 2003.

Mars rover 1988 concepts

NASA Technical Reports Server (NTRS)

Pivirotto, Donna Shirley; Penn, Thomas J.; Dias, William C.

1989-01-01

Results of FY88 studies of a sample-collecting Mars rover are presented. A variety of rover concepts are discussed which include different technical approaches to rover functions. The performance of rovers with different levels of automation is described and compared to the science requirement for 20 to 40 km to be traversed on the Martian surface and for 100 rock and soil samples to be collected. The analysis shows that a considerable amount of automation in roving and sampling is required to meet this requirement. Additional performance evaluation shows that advanced RTG's producing 500 W and 350 WHr of battery storage are needed to supply the rover.

AOTF near-IR spectrometers for study of Lunar and Martian surface composition

NASA Astrophysics Data System (ADS)

Korablev, O.; Kiselev, A.; Vyazovetskiy, N.; Fedorova, A.; Evdokimova, N.; Stepanov, A.; Titov, A.; Kalinnikov, Y.; Kuzmin, R. O.; Bazilevsky, A. T.; Bondarenko, A.; Moiseev, P.

2013-09-01

The series of the AOTF near-IR spectrometers is developed in Moscow Space Research Institute for study of Lunar and Martian surface composition in the vicinity of a lander or a rover. Lunar Infrared Spectrometer (LIS) is an experiment onboard Luna-Glob (launch in 2015) and Luna-Resurs (launch in 2017) Russian surface missions. The LIS is mounted on the mechanic arm of landing module in the field of view (45°) of stereo TV camera. Infrared Spectrometer for ExoMars (ISEM) is an experiment onboard ExoMars (launch in 2018) ESARoscosmos rover. The ISEM instrument is mounted on the rover's mast together with High Resolution camera (HRC). Spectrometers will provide measurements of selected surface area in the spectral range of 1.15-3.3 μm. The electrically commanded acousto-optic filter scans sequentially at a desired sampling, with random access, over the entire spectral range.

United States planetary rover status: 1989

NASA Technical Reports Server (NTRS)

Pivirotto, Donna L. S.; Dias, William C.

1990-01-01

A spectrum of concepts for planetary rovers and rover missions, is covered. Rovers studied range from tiny micro rovers to large and highly automated vehicles capable of traveling hundreds of kilometers and performing complex tasks. Rover concepts are addressed both for the Moon and Mars, including a Lunar/Mars common rover capable of supporting either program with relatively small modifications. Mission requirements considered include both Science and Human Exploration. Studies include a range of autonomy in rovers, from interactive teleoperated systems to those requiring and onboard System Executive making very high level decisions. Both high and low technology rover options are addressed. Subsystems are described for a representative selection of these rovers, including: Mobility, Sample Acquisition, Science, Vehicle Control, Thermal Control, Local Navigation, Computation and Communications. System descriptions of rover concepts include diagrams, technology levels, system characteristics, and performance measurement in terms of distance covered, samples collected, and area surveyed for specific representative missions. Rover development schedules and costs are addressed for Lunar and Mars exploration initiatives.

Test Rover at JPL During Preparation for Mars Rover Low-Angle Selfie

NASA Image and Video Library

2015-08-19

This view of a test rover at NASA's Jet Propulsion Laboratory, Pasadena, California, results from advance testing of arm positions and camera pointings for taking a low-angle self-portrait of NASA's Curiosity Mars rover. This rehearsal in California led to a dramatic Aug. 5, 2015, selfie of Curiosity, online at PIA19807. Curiosity's arm-mounted Mars Hand Lens Imager (MAHLI) camera took 92 of component images that were assembled into that mosaic. The rover team positioned the camera lower in relation to the rover body than for any previous full self-portrait of Curiosity. This practice version was taken at JPL's Mars Yard in July 2013, using the Vehicle System Test Bed (VSTB) rover, which has a test copy of MAHLI on its robotic arm. MAHLI was built by Malin Space Science Systems, San Diego. JPL, a division of the California Institute of Technology in Pasadena, manages the Mars Science Laboratory Project for the NASA Science Mission Directorate, Washington. JPL designed and built the project's Curiosity rover. http://photojournal.jpl.nasa.gov/catalog/PIA19810

Mars Exploration Rover (MER) aeroshell

NASA Image and Video Library

2003-01-31

In the Payload Hazardous Servicing Facility, workers prepare the Mars Exploration Rover (MER) aeroshell for transfer to a rotation stand. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards (100 meters) each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

Instrument Deployment for Mars Rovers

NASA Technical Reports Server (NTRS)

Pedersen, Liam; Bualat, Maria; Kunz, C.; Lee, Susan; Sargent, Randy; Washington, Rich; Wright, Anne; Clancy, Daniel (Technical Monitor)

2002-01-01

Future Mars rovers, such as the planned 2009 MSL rover, require sufficient autonomy to robustly approach rock targets and place an instrument in contact with them. It took the 1997 Sojourner Mars rover between 3 and 5 communications cycles to accomplish this. This paper describes the technologies being developed and integrated onto the NASA Ames K9 prototype Mars rover to both accomplish this in one cycle, and to extend the complexity and duration of operations that a Mars rover can accomplish without intervention from mission control.

News and Views: NASA puts JWST back on track, but ExoMars collaboration looks unlikely; Marsquakes happening yesterday, geologically; UFOs from black holes control shape of galaxies

NASA Astrophysics Data System (ADS)

2012-04-01

NASA's funding plans put the James Webb Space Telescope firmly on track for a launch in 2018, to widespread relief, but the essentially flat funding settlement for 2013 overall means something has to go. Planetary science seems hardest hit, with the especial blow for European planetary scientists of NASA pulling out of ExoMars, the ESA-led mission to look for signs of life on Mars. Images from the High Resolution Imaging Science Experiment have shown boulders displaced by seismic activity on Mars in the past few million years, and possibly much more recently than that. The bigger the supermassive black hole at the centre of a galaxy, the faster the stars in the galactic bulge rotate. Why this should be so has been something of a puzzle, but now a mechanism that is both powerful and common enough to do the job has been identified.

The Urey Instrument: An Advanced In Situ Organic and Oxidant Detector for Mars Exploration

NASA Astrophysics Data System (ADS)

Aubrey, Andrew D.; Chalmers, John H.; Bada, Jeffrey L.; Grunthaner, Frank J.; Amashukeli, Xenia; Willis, Peter; Skelley, Alison M.; Mathies, Richard A.; Quinn, Richard C.; Zent, Aaron P.; Ehrenfreund, Pascale; Amundson, Ron; Glavin Daniel P.; Botta, Oliver; Barron, Laurence; Blaney, Diana L.; Clark, Benton C.; Coleman, Max; Hofmann, Beda A.; Josset, Jean-Luc; Rettberg, Petra; Ride, Sally; Musée, François Robert; Sephton, Mark A.; Yen, Albert

2008-06-01

The Urey organic and oxidant detector consists of a suite of instruments designed to search for several classes of organic molecules in the martian regolith and ascertain whether these compounds were produced by biotic or abiotic processes using chirality measurements. These experiments will also determine the chemical stability of organic molecules within the host regolith based on the presence and chemical reactivity of surface and atmospheric oxidants. Urey has been selected for the Pasteur payload on the European Space Agency's (ESA's) upcoming 2013 ExoMars rover mission. The diverse and effective capabilities of Urey make it an integral part of the payload and will help to achieve a large portion of the mission's primary scientific objective: "to search for signs of past and present life on Mars." This instrument is named in honor of Harold Urey for his seminal contributions to the fields of cosmochemistry and the origin of life.

The Urey instrument: an advanced in situ organic and oxidant detector for Mars exploration.

PubMed

Aubrey, Andrew D; Chalmers, John H; Bada, Jeffrey L; Grunthaner, Frank J; Amashukeli, Xenia; Willis, Peter; Skelley, Alison M; Mathies, Richard A; Quinn, Richard C; Zent, Aaron P; Ehrenfreund, Pascale; Amundson, Ron; Glavin, Daniel P; Botta, Oliver; Barron, Laurence; Blaney, Diana L; Clark, Benton C; Coleman, Max; Hofmann, Beda A; Josset, Jean-Luc; Rettberg, Petra; Ride, Sally; Robert, François; Sephton, Mark A; Yen, Albert

2008-06-01

The Urey organic and oxidant detector consists of a suite of instruments designed to search for several classes of organic molecules in the martian regolith and ascertain whether these compounds were produced by biotic or abiotic processes using chirality measurements. These experiments will also determine the chemical stability of organic molecules within the host regolith based on the presence and chemical reactivity of surface and atmospheric oxidants. Urey has been selected for the Pasteur payload on the European Space Agency's (ESA's) upcoming 2013 ExoMars rover mission. The diverse and effective capabilities of Urey make it an integral part of the payload and will help to achieve a large portion of the mission's primary scientific objective: "to search for signs of past and present life on Mars." This instrument is named in honor of Harold Urey for his seminal contributions to the fields of cosmochemistry and the origin of life.

Test Rover Aids Preparations in California for Curiosity Rover on Mars

NASA Image and Video Library

2012-05-11

NASA Mars Science Laboratory mission team members ran mobility tests on the test rover called Scarecrow on sand dunes near Death Valley, Ca. in early May 2012 in preparation for operating the Curiosity rover, currently en route to Mars.

Airbags and Sojourner Rover

NASA Image and Video Library

1997-07-05

This image from the Imager for Mars Pathfinder (IMP) camera shows the rear part of the Sojourner rover, the rolled-up rear ramp, and portions of the partially deflated airbags. The Alpha Proton X-ray Spectrometer instrument is protruding from the rear (right side) of the rover. The airbags behind the rover are presently blocking the ramp from being safely unfurled. The ramps are a pair of deployable metal reels that will provide a track for the rover as it slowly rolls off the lander, and onto the surface of Mars, once Pathfinder scientists determine it is safe to do so. http://photojournal.jpl.nasa.gov/catalog/PIA00614

Mars Rover Concept Vehicle

NASA Image and Video Library

2017-06-05

The scientifically-themed Mars rover concept vehicle operates on an electric motor, powered by solar panels and a 700-volt battery. The back section opens and serves as a laboratory which can disconnect for autonomous research. While this exact rover is not expected to operate on Mars, one or more of its elements could make its way into a rover astronauts will drive on the Red Planet. The "Summer of Mars" promotion is designed to provide guests with a better understanding of NASA's studies of the Red Planet. The builders of the rover, Parker Brothers Concepts of Port Canaveral, Florida, incorporated input into its design from NASA subject matter experts.

Control technique for planetary rover

NASA Technical Reports Server (NTRS)

Nakatani, Ichiro; Kubota, Takashi; Adachi, Tadashi; Saitou, Hiroaki; Okamoto, Sinya

1994-01-01

Beginning next century, several schemes for sending a planetary rover to the moon or Mars are being planned. As part of the development program, autonomous navigation technology is being studied to allow the rover the ability to move autonomously over a long range of unknown planetary surface. In the previous study, we ran the autonomous navigation experiment on an outdoor test terrain by using a rover test-bed that was controlled by a conventional sense-plan-act method. In some cases during the experiment, a problem occurred with the rover moving into untraversable areas. To improve this situation, a new control technique has been developed that gives the rover the ability of reacting to the outputs of the proximity sensors, a reaction behavior if you will. We have developed a new rover test-bed system on which an autonomous navigation experiment was performed using the newly developed control technique. In this outdoor experiment, the new control technique effectively produced the control command for the rover to avoid obstacles and be guided to the goal point safely.

CubeRovers for Lunar Exploration

NASA Astrophysics Data System (ADS)

Tallaksen, A. P.; Horchler, A. D.; Boirum, C.; Arnett, D.; Jones, H. L.; Fang, E.; Amoroso, E.; Chomas, L.; Papincak, L.; Sapunkov, O. B.; Whittaker, W. L.

2017-10-01

CubeRover is a 2-kg class of lunar rover that seeks to standardize and democratize surface mobility and science, analogous to CubeSats. This CubeRover will study in-situ lunar surface trafficability and descent engine blast ejecta phenomena.

Virtual Rover Takes its First Turn

NASA Image and Video Library

2004-01-13

This image shows a screenshot from the software used by engineers to drive the Mars Exploration Rover Spirit. The software simulates the rover's movements across the martian terrain, helping to plot a safe course for the rover. The virtual 3-D world around the rover is built from images taken by Spirit's stereo navigation cameras. Regions for which the rover has not yet acquired 3-D data are represented in beige. This image depicts the state of the rover before it backed up and turned 45 degrees on Sol 11 (01-13-04). http://photojournal.jpl.nasa.gov/catalog/PIA05063

Rover Sequencing and Visualization Program

NASA Technical Reports Server (NTRS)

Cooper, Brian; Hartman, Frank; Maxwell, Scott; Yen, Jeng; Wright, John; Balacuit, Carlos

2005-01-01

The Rover Sequencing and Visualization Program (RSVP) is the software tool for use in the Mars Exploration Rover (MER) mission for planning rover operations and generating command sequences for accomplishing those operations. RSVP combines three-dimensional (3D) visualization for immersive exploration of the operations area, stereoscopic image display for high-resolution examination of the downlinked imagery, and a sophisticated command-sequence editing tool for analysis and completion of the sequences. RSVP is linked with actual flight-code modules for operations rehearsal to provide feedback on the expected behavior of the rover prior to committing to a particular sequence. Playback tools allow for review of both rehearsed rover behavior and downlinked results of actual rover operations. These can be displayed simultaneously for comparison of rehearsed and actual activities for verification. The primary inputs to RSVP are downlink data products from the Operations Storage Server (OSS) and activity plans generated by the science team. The activity plans are high-level goals for the next day s activities. The downlink data products include imagery, terrain models, and telemetered engineering data on rover activities and state. The Rover Sequence Editor (RoSE) component of RSVP performs activity expansion to command sequences, command creation and editing with setting of command parameters, and viewing and management of rover resources. The HyperDrive component of RSVP performs 2D and 3D visualization of the rover s environment, graphical and animated review of rover-predicted and telemetered state, and creation and editing of command sequences related to mobility and Instrument Deployment Device (IDD) operations. Additionally, RoSE and HyperDrive together evaluate command sequences for potential violations of flight and safety rules. The products of RSVP include command sequences for uplink that are stored in the Distributed Object Manager (DOM) and predicted rover

Arusha Rover Deployable Medical Workstation

NASA Technical Reports Server (NTRS)

Boswell, Tyrone; Hopson, Sonya; Marzette, Russell; Monroe, Gilena; Mustafa, Ruqayyah

2014-01-01

The NSBE Arusha rover concept offers a means of human transport and habitation during long-term exploration missions on the moon. This conceptual rover calls for the availability of medical supplies and equipment for crew members in order to aid in mission success. This paper addresses the need for a dedicated medical work station aboard the Arusha rover. The project team investigated multiple options for implementing a feasible deployable station to address both the medical and workstation layout needs of the rover and crew. Based on layout specifications and medical workstation requirements, the team has proposed a deployable workstation concept that can be accommodated within the volumetric constraints of the Arusha rover spacecraft

SPICE for ESA Planetary Missions

NASA Astrophysics Data System (ADS)

Costa, M.

2018-04-01

The ESA SPICE Service leads the SPICE operations for ESA missions and is responsible for the generation of the SPICE Kernel Dataset for ESA missions. This contribution will describe the status of these datasets and outline the future developments.

Venus within ESA probe reach

NASA Astrophysics Data System (ADS)

2006-03-01

Venus Express mission controllers at the ESA Space Operations Centre (ESOC) in Darmstadt, Germany are making intensive preparations for orbit insertion. This comprises a series of telecommands, engine burns and manoeuvres designed to slow the spacecraft down from a velocity of 29000 km per hour relative to Venus, just before the first burn, to an entry velocity some 15% slower, allowing the probe to be captured into orbit around the planet. The spacecraft will have to ignite its main engine for 50 minutes in order to achieve deceleration and place itself into a highly elliptical orbit around the planet. Most of its 570 kg of onboard propellant will be used for this manoeuvre. The spacecraft’s solar arrays will be positioned so as to reduce the possibility of excessive mechanical load during engine ignition. Over the subsequent days, a series of additional burns will be done to lower the orbit apocentre and to control the pericentre. The aim is to end up in a 24-hour orbit around Venus early in May. The Venus orbit injection operations can be followed live at ESA establishments, with ESOC acting as focal point of interest (see attached programme). In all establishments, ESA specialists will be on hand for interviews. ESA TV will cover this event live from ESOC in Darmstadt. The live transmission will be carried free-to-air. For broadcasters, complete details of the various satellite feeds are listed at http://television.esa.int. The event will be covered on the web at venus.esa.int. The website will feature regular updates, including video coverage of the press conference and podcast from the control room at ESA’s Operations Centre. Media representatives wishing to follow the event at one of the ESA establishments listed below are requested to fill in the attached registration form and fax it back to the place of their choice. For further information, please contact: ESA Media Relations Division Tel : +33(0)1.53.69.7155 Fax: +33(0)1.53.69.7690 Venus Express

Spirit Ascent Movie, Rover's-Eye View

NASA Technical Reports Server (NTRS)

2005-01-01

A movie assembled from frames taken by the rear hazard-identification camera on NASA's Mars Exploration Rover Spirit shows the last few days of the rover's ascent to the crest of 'Husband Hill' inside Mars' Gusev Crater. The rover was going in reverse. Rover planners often drive Spirit backwards to keep wheel lubrication well distributed. The images in this clip span a timeframe from Spirit's 573rd martian day, or sol (Aug, 13, 2005) to sol 582 (Aug. 22, 2005), the day after the rover reached the crest. During that period, Spirit drove 136 meters (446 feet),

Self-Directed Cooperative Planetary Rovers

NASA Technical Reports Server (NTRS)

Zilberstein, Shlomo; Morris, Robert (Technical Monitor)

2003-01-01

The project is concerned with the development of decision-theoretic techniques to optimize the scientific return of planetary rovers. Planetary rovers are small unmanned vehicles equipped with cameras and a variety of sensors used for scientific experiments. They must operate under tight constraints over such resources as operation time, power, storage capacity, and communication bandwidth. Moreover, the limited computational resources of the rover limit the complexity of on-line planning and scheduling. We have developed a comprehensive solution to this problem that involves high-level tools to describe a mission; a compiler that maps a mission description and additional probabilistic models of the components of the rover into a Markov decision problem; and algorithms for solving the rover control problem that are sensitive to the limited computational resources and high-level of uncertainty in this domain.

Size Comparison: Three Generations of Mars Rovers

NASA Image and Video Library

2008-11-19

Full-scale models of three generations of NASA Mars rovers show the increase in size from the Sojourner rover of the Mars Pathfinder project, to the twin Mars Exploration Rovers Spirit and Opportunity, to the Mars Science Laboratory rover.

Progress in Life Marker Chip Technology for Detection of Life on Mars

NASA Astrophysics Data System (ADS)

Sims, M. R.; Cullen, D. C.; Laan, E.; Borst, G.; Prak, A.; Richter, L.; Gaubert, F.; Steele, A.; Parnell, J.; Sephton, M.

2007-12-01

Detection of Life on Mars will rely on detection of biomarkers, physical or chemical structures that can be associated with Life. As a possible payload for the ESA ExoMars rover mission planned in 2013 and other future missions a Life Marker Chip instrument is being developed. This instrument uses immuno-assay techniques to detect the relevant biomarkers. This paper describes the typical targets it will search for, its operating principle and the status of development. 63 biomarker targets have been identified and assays have been developed for a limited subset. Assay development includes use of recombinant DNA techniques to generate the molecular receptors (antibodies). This type of instrument has applications in terrestrial research e.g. sub-glacial lakes as well as planetary exploration. Breadboard demonstrators have been built of the assay system and key components of the micro-fluidics. Results from these breadboards will be presented, along with plans for future development.

Workshop on Radar Investigations of Planetary and Terrestrial Environments

NASA Technical Reports Server (NTRS)

2005-01-01

Contents include the following: Salt Kinematics and InSAR. SAR Interferometry as a Tool for Monitoring Coastal Changes in the Nile River Delta of Egypt. Modem Radar Techniques for Geophysical Applications: Two Examples. WISDOM Experiment on the EXOMARS ESA Mission. An Ice Thickness Study Utilizing Ground Penetrating Radar on the Lower Jamapa. Probing the Martian Subsurface with Synthetic Aperture Radar. Planetary Surface Properties from Radar Polarimetric Observations. Imaging the Sub-surface Reflectors : Results From the RANETA/NETLANDER Field Test on the Antarctic Ice Shelf. Strategy for Selection of Mars Geophysical Analogue Sites. Observations of Low Frequency Low Altitude Plasma Oscillations at Mars and Implications for Electromagnetic Sounding of the Subsurface. Ionospheric Transmission Losses Associated with Mars-orbiting Radar. A Polarimetric Scattering Model for the 2-Layer Problem. Radars for Imaging and Sounding of Polar Ice Sheets. Strata: Ground Penetrating Radar for Mars Rovers. Scattering Limits to Depth of Radar Investigation: Lessons from the Bishop Tuff.

A Rover Journey Begins

NASA Image and Video Library

2012-09-06

Tracks from the first drives of NASA Curiosity rover are visible in this image captured by the High-Resolution Imaging Science Experiment HiRISE camera on NASA Mars Reconnaissance Orbiter. The rover is seen where the tracks end.

Rover Team Decides: Safety First

NASA Technical Reports Server (NTRS)

2006-01-01

NASA's Mars Exploration Rover Spirit recorded this view while approaching the northwestern edge of 'Home Plate,' a circular plateau-like area of bright, layered outcrop material roughly 80 meters (260 feet) in diameter. The images combined into this mosaic were taken by Spirit's navigation camera during the rover's 746th, 748th and 750th Martian days, or sols (Feb. 7, 9 and 11, 2006).

With Martian winter closing in, engineers and scientists working with NASA's Mars Exploration Rover Spirit decided to play it safe for the time being rather than attempt to visit the far side of Home Plate in search of rock layers that might show evidence of a past watery environment. This feature has been one of the major milestones of the mission. Though it's conceivable that rock layers might be exposed on the opposite side, sunlight is diminishing on the rover's solar panels and team members chose not to travel in a counterclockwise direction that would take the rover to the west and south slopes of the plateau. Slopes in that direction are hidden from view and team members chose, following a long, thorough discussion, to have the rover travel clockwise and remain on north-facing slopes rather than risk sending the rover deeper into unknown terrain.

In addition to studying numerous images from Spirit's cameras, team members studied three-dimensional models created with images from the Mars Orbiter Camera on NASA's Mars Globel Surveyor orbiter. The models showed a valley on the southern side of Home Plate, the slopes of which might cause the rover's solar panels to lose power for unknown lengths of time. In addition, images from Spirit's cameras showed a nearby, talus-covered section of slope on the west side of Home Plate, rather than exposed rock layers scientists eventually hope to investigate.

Home Plate has been on the rover's potential itinerary since the early days of the mission, when it stood out in images taken by the Mars Orbiter Camera shortly after

Mars Exploration Rover -2

NASA Image and Video Library

2003-03-06

In the Payload Hazardous Servicing Facility resides one of the Mars Exploration Rovers, MER-2. MER-1 and MER-2, their aeroshells and landers will undergo a full mission simulation before being integrated. After spin balance testing, each spacecraft will be mated to a solid propellant upper stage booster that will propel the spacecraft out of Earth orbit. Approximately 10 days before launch they will be transported to the launch pad for mating with their respective Boeing Delta II rockets. The rovers will serve as robotic geologists to seek answers about the evolution of Mars, particularly for a history of water. The rovers are identical to each other, but will land at different regions of Mars. Launch of the first rover is scheduled for May 30 from Cape Canaveral Air Force Station. The second will follow June 25.

Mars Exploration Rover -2

NASA Image and Video Library

2003-03-06

Technicians in the Payload Hazardous Servicing Facility look over the Mars Exploration Rover -2. MER-1 and MER-2, their aeroshells and landers will undergo a full mission simulation before being integrated. After spin balance testing, each spacecraft will be mated to a solid propellant upper stage booster that will propel the spacecraft out of Earth orbit. Approximately 10 days before launch they will be transported to the launch pad for mating with their respective Boeing Delta II rockets. The rovers will serve as robotic geologists to seek answers about the evolution of Mars, particularly for a history of water. The rovers are identical to each other, but will land at different regions of Mars. Launch of the first rover is scheduled for May 30 from Cape Canaveral Air Force Station. The second will follow June 25.

Robust Coordination for Large Sets of Simple Rovers

NASA Technical Reports Server (NTRS)

Tumer, Kagan; Agogino, Adrian

2006-01-01

The ability to coordinate sets of rovers in an unknown environment is critical to the long-term success of many of NASA;s exploration missions. Such coordination policies must have the ability to adapt in unmodeled or partially modeled domains and must be robust against environmental noise and rover failures. In addition such coordination policies must accommodate a large number of rovers, without excessive and burdensome hand-tuning. In this paper we present a distributed coordination method that addresses these issues in the domain of controlling a set of simple rovers. The application of these methods allows reliable and efficient robotic exploration in dangerous, dynamic, and previously unexplored domains. Most control policies for space missions are directly programmed by engineers or created through the use of planning tools, and are appropriate for single rover missions or missions requiring the coordination of a small number of rovers. Such methods typically require significant amounts of domain knowledge, and are difficult to scale to large numbers of rovers. The method described in this article aims to address cases where a large number of rovers need to coordinate to solve a complex time dependent problem in a noisy environment. In this approach, each rover decomposes a global utility, representing the overall goal of the system, into rover-specific utilities that properly assign credit to the rover s actions. Each rover then has the responsibility to create a control policy that maximizes its own rover-specific utility. We show a method of creating rover-utilities that are "aligned" with the global utility, such that when the rovers maximize their own utility, they also maximize the global utility. In addition we show that our method creates rover-utilities that allow the rovers to create their control policies quickly and reliably. Our distributed learning method allows large sets rovers be used unmodeled domains, while providing robustness against

Mars Rover/Sample Return (MRSR) Mission: Mars Rover Technology Workshop

NASA Technical Reports Server (NTRS)

1987-01-01

A return to the surface of Mars has long been an objective of NASA mission planners. The ongoing Mars Rover and Sample Return (MRSR) mission study represents the latest stage in that interest. As part of NASA's preparation for a possible MRSR mission, a technology planning workshop was held to attempt to define technology requirements, options, and preliminary plans for the principal areas of Mars rover technology. The proceedings of that workshop are presented.

Mars Exploration Rover -2

NASA Image and Video Library

2003-03-06

Technicians in the Payload Hazardous Servicing Facility work on components of the Mars Exploration Rovers. In the center is a lander. MER-1 and MER-2, their aeroshells and landers will undergo a full mission simulation before being integrated. After spin balance testing, each spacecraft will be mated to a solid propellant upper stage booster that will propel the spacecraft out of Earth orbit. Approximately 10 days before launch they will be transported to the launch pad for mating with their respective Boeing Delta II rockets. The rovers will serve as robotic geologists to seek answers about the evolution of Mars, particularly for a history of water. The rovers are identical to each other, but will land at different regions of Mars. Launch of the first rover is scheduled for May 30 from Cape Canaveral Air Force Station. The second will follow June 25.

Mars Science Laboratory Rover System Thermal Test

NASA Technical Reports Server (NTRS)

Novak, Keith S.; Kempenaar, Joshua E.; Liu, Yuanming; Bhandari, Pradeep; Dudik, Brenda A.

2012-01-01

On November 26, 2011, NASA launched a large (900 kg) rover as part of the Mars Science Laboratory (MSL) mission to Mars. The MSL rover is scheduled to land on Mars on August 5, 2012. Prior to launch, the Rover was successfully operated in simulated mission extreme environments during a 16-day long Rover System Thermal Test (STT). This paper describes the MSL Rover STT, test planning, test execution, test results, thermal model correlation and flight predictions. The rover was tested in the JPL 25-Foot Diameter Space Simulator Facility at the Jet Propulsion Laboratory (JPL). The Rover operated in simulated Cruise (vacuum) and Mars Surface environments (8 Torr nitrogen gas) with mission extreme hot and cold boundary conditions. A Xenon lamp solar simulator was used to impose simulated solar loads on the rover during a bounding hot case and during a simulated Mars diurnal test case. All thermal hardware was exercised and performed nominally. The Rover Heat Rejection System, a liquid-phase fluid loop used to transport heat in and out of the electronics boxes inside the rover chassis, performed better than predicted. Steady state and transient data were collected to allow correlation of analytical thermal models. These thermal models were subsequently used to predict rover thermal performance for the MSL Gale Crater landing site. Models predict that critical hardware temperatures will be maintained within allowable flight limits over the entire 669 Sol surface mission.

Curiosity Rover's First Anniversary

NASA Image and Video Library

2013-08-06

A small-scaled model of NASA's Curiosity rover is seen at a public event observing the first anniversary of the Curiosity rover's landing on Mars, Tuesday, August 6th, 2013 in Washington. The Mars Science Laboratory mission successfully placed the one-ton Curiosity rover on the surface of Mars on Aug. 6, 2012, about 1 mile from the center of its 12-mile-long target area. Within the first eight months of a planned 23-months primary mission, Curiosity met its major science objective of finding evidence of a past environment well-suited to support microbial life. Photo Credit: (NASA/Carla Cioffi)

The mass of massive rover software

NASA Technical Reports Server (NTRS)

Miller, David P.

1993-01-01

A planetary rover, like a spacecraft, must be fully self contained. Once launched, a rover can only receive information from its designers, and if solar powered, power from the Sun. As the distance from Earth increases, and the demands for power on the rover increase, there is a serious tradeoff between communication and computation. Both of these subsystems are very power hungry, and both can be the major driver of the rover's power subsystem, and therefore the minimum mass and size of the rover. This situation and software techniques that can be used to reduce the requirements on both communication and computation, allowing the overall robot mass to be greatly reduced, are discussed.

New opportunities in planetary geomorphology: an assessment of the capabilities of the Colour and Stereo Surface Imaging System (CaSSIS) on The Exomars Trace Gas Orbiter through Image Simulation.

NASA Astrophysics Data System (ADS)

Tornabene, Livio Leonardo; Seelos, Frank; Pommerol, Antoine; Thomas, Nick; Caudill, Christy; Conway, Susan J.

2017-04-01

single-band images, or when missed by the HiRISE colour swath. Another result based on our colour analysis includes, excellent separation of ferrous- and ferric-bearing surface materials provided by band ratio colour composite images utilizing the two NIR bands of CaSSIS (3RED, 4NIR). These images will be particularly useful for associating CaSSIS colour units with spectral units defined by orbiting spectrometers (e.g., CRISM), and thereby extend spectral mapping to CaSSIS spatial scales. This will particularly be beneficial for landing sites where it is difficult to achieve continuous colour coverage with HiRISE. Our analysis shows that dune movement can be detected at the scale of CaSSIS, given a long enough baseline. Other results include resolving: 1) larger individual or sets of Recurring Slope Lineae (RSL), 2) small impacts (including ice excavators), and 3) surface changes associated with landers/rovers (NOTE: lander/rovers and their tracks are not resolvable). References: [1] Thomas N. et al. (2016), submitted to SSR. [2] Tornabene L. et al. (2017), submitted to SSR. [3] Tornabene L. et al. (2016) LPSC 47, Abstract #2695. [4] Vago J. et al. (2015) SSR, 49 518-528. [5] Cremonese G. et al. (2017) LPSC 48. [6] Seelos F. et al. (2011) AGU Fall, vol. 23, Abstract #1714. [7] Delamere A. et al. (2010), Icarus, 205, 38-52. Acknowledgements: The authors wish to thank the spacecraft and instrument engineering teams for the successful completion of the instrument. CaSSIS is a project of the University of Bern and funded through the Swiss Space Office via ESA's PRODEX programme. The instrument hardware development was also supported by the Italian Space Agency (ASI) (ASI-INAF agreement no.I/018/12/0), INAF/Astronomical Observatory of Padova, and the Space Research Center (CBK) in Warsaw. Support from SGF (Budapest), the University of Arizona Lunar and Planetary Laboratory, and NASA are also gratefully acknowledged. The lead author also acknowledges personal Canadian

Inlet Cover On the Curiosity Rover

NASA Image and Video Library

2018-06-04

The drill bit of NASA's Curiosity Mars rover over one of the sample inlets on the rover's deck. The inlets lead to Curiosity's onboard laboratories. This image was taken on Sol 2068 by the rover's Mast Camera (Mastcam). https://photojournal.jpl.nasa.gov/catalog/PIA22327

Mars Exploration Rover -2

NASA Image and Video Library

2003-03-06

Components of the two Mars Exploration Rovers (MER) reside in the Payload Hazardous Servicing Facility. At right MER-2. At left is a lander. In the background is one of the aeroshells. MER-1 and MER-2, their aeroshells and landers will undergo a full mission simulation before being integrated. After spin balance testing, each spacecraft will be mated to a solid propellant upper stage booster that will propel the spacecraft out of Earth orbit. Approximately 10 days before launch they will be transported to the launch pad for mating with their respective Boeing Delta II rockets. The rovers will serve as robotic geologists to seek answers about the evolution of Mars, particularly for a history of water. The rovers are identical to each other, but will land at different regions of Mars. Launch of the first rover is scheduled for May 30 from Cape Canaveral Air Force Station. The second will follow June 25.

VIPER: Virtual Intelligent Planetary Exploration Rover

NASA Technical Reports Server (NTRS)

Edwards, Laurence; Flueckiger, Lorenzo; Nguyen, Laurent; Washington, Richard

2001-01-01

Simulation and visualization of rover behavior are critical capabilities for scientists and rover operators to construct, test, and validate plans for commanding a remote rover. The VIPER system links these capabilities. using a high-fidelity virtual-reality (VR) environment. a kinematically accurate simulator, and a flexible plan executive to allow users to simulate and visualize possible execution outcomes of a plan under development. This work is part of a larger vision of a science-centered rover control environment, where a scientist may inspect and explore the environment via VR tools, specify science goals, and visualize the expected and actual behavior of the remote rover. The VIPER system is constructed from three generic systems, linked together via a minimal amount of customization into the integrated system. The complete system points out the power of combining plan execution, simulation, and visualization for envisioning rover behavior; it also demonstrates the utility of developing generic technologies. which can be combined in novel and useful ways.

Electrostatic Charging of the Pathfinder Rover

NASA Technical Reports Server (NTRS)

Siebert, Mark W.; Kolecki, Joseph C.

1996-01-01

The Mars Pathfinder mission will send a lander and a rover to the martian surface. Because of the extremely dry conditions on Mars, electrostatic charging of the rover is expected to occur as it moves about. Charge accumulation may result in high electrical potentials and discharge through the martian atmosphere. Such discharge could interfere with the operation of electrical elements on the rover. A strategy was sought to mitigate this charge accumulation as a precautionary measure. Ground tests were performed to demonstrate charging in laboratory conditions simulating the surface conditions expected at Mars. Tests showed that a rover wheel, driven at typical rover speeds, will accumulate electrical charge and develop significant electrical potentials (average observed, 110 volts). Measurements were made of wheel electrical potential, and wheel capacitance. From these quantities, the amount of absolute charge was estimated. An engineering solution was developed and recommended to mitigate charge accumulation. That solution has been implemented on the actual rover.

Mars Rover Sample Return mission study

NASA Technical Reports Server (NTRS)

Bourke, Roger D.

1989-01-01

The Mars Rover/Sample Return mission is examined as a precursor to a manned mission to Mars. The value of precursor missions is noted, using the Apollo lunar program as an example. The scientific objectives of the Mars Rover/Sample Return mission are listed and the basic mission plans are described. Consideration is given to the options for mission design, launch configurations, rover construction, and entry and lander design. Also, the potential for international cooperation on the Mars Rover/Sample Return mission is discussed.

Update on Rover Sequencing and Visualization Program

NASA Technical Reports Server (NTRS)

Cooper, Brian; Hartman, Frank; Maxwell, Scott; Yen, Jeng; Wright, John; Balacuit, Carlos

2005-01-01

The Rover Sequencing and Visualization Program (RSVP) has been updated. RSVP was reported in Rover Sequencing and Visualization Program (NPO-30845), NASA Tech Briefs, Vol. 29, No. 4 (April 2005), page 38. To recapitulate: The Rover Sequencing and Visualization Program (RSVP) is the software tool to be used in the Mars Exploration Rover (MER) mission for planning rover operations and generating command sequences for accomplishing those operations. RSVP combines three-dimensional (3D) visualization for immersive exploration of the operations area, stereoscopic image display for high-resolution examination of the downlinked imagery, and a sophisticated command-sequence editing tool for analysis and completion of the sequences. RSVP is linked with actual flight code modules for operations rehearsal to provide feedback on the expected behavior of the rover prior to committing to a particular sequence. Playback tools allow for review of both rehearsed rover behavior and downlinked results of actual rover operations. These can be displayed simultaneously for comparison of rehearsed and actual activities for verification. The primary inputs to RSVP are downlink data products from the Operations Storage Server (OSS) and activity plans generated by the science team. The activity plans are high-level goals for the next day s activities. The downlink data products include imagery, terrain models, and telemetered engineering data on rover activities and state. The Rover Sequence Editor (RoSE) component of RSVP performs activity expansion to command sequences, command creation and editing with setting of command parameters, and viewing and management of rover resources. The HyperDrive component of RSVP performs 2D and 3D visualization of the rover s environment, graphical and animated review of rover predicted and telemetered state, and creation and editing of command sequences related to mobility and Instrument Deployment Device (robotic arm) operations. Additionally, RoSE and

Micro Imaging Spectrometer for Subsurface Studies of Martian Soil: Ma_Miss

NASA Astrophysics Data System (ADS)

de Sanctis, M. C.; Coradini, A.; Ammannito, E.; Boccaccini, A.; di Iorio, T.; Battistelli, E.; Capanni, A.

2012-03-01

Ma_Miss (Mars Multispectral Imager for Subsurface Studies) is a spectrometer devoted to observe the lateral wall of the borehole generated by the drill installed on the ExoMars Pasteur Rover to perform in situ investigations in the Mars subsurface.

Top of Mars Rover Curiosity Remote Sensing Mast

NASA Image and Video Library

2011-04-06

The remote sensing mast on NASA Mars rover Curiosity holds two science instruments for studying the rover surroundings and two stereo navigation cameras for use in driving the rover and planning rover activities.

Mars Rover Concept Vehicle

NASA Image and Video Library

2017-06-05

The scientifically-themed Mars rover concept vehicle operates on an electric motor, powered by solar panels and a 700-volt battery. The rover separates in the middle with the front area designed for scouting and equipped with a radio and navigation provided by the Global Positioning System. The back section serves as a full laboratory which can disconnect for autonomous research. The "Summer of Mars" promotion is designed to provide guests with a better understanding of NASA's studies of the Red Planet. The builders of the rover, Parker Brothers Concepts of Port Canaveral, Florida, incorporated input into its design from NASA subject matter experts.

EXPLORING MARS WITH SOLAR-POWERED ROVERS

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.

2006-01-01

The Mars Exploration Rover (MER) project landed two solar-powered rovers, "Spirit" and "Opportunity," on the surface of Mars in January of 2003. This talk reviews the history of solar-powered missions to Mars and looks at the science mission of the MER rovers, focusing on the solar energy and array performance.

Spirit Rover on 'Husband Hill'

NASA Technical Reports Server (NTRS)

2006-01-01

[figure removed for brevity, see original site] Figure 1: Location of Spirit

Two Earth years ago, NASA's Mars Exploration Rover Spirit touched down in Gusev Crater. The rover marked its first Mars-year (687 Earth days) anniversary in November 2005. Shortly before Spirit's Martian anniversary, the Mars Orbiter Camera on NASA's Mars Global Surveyor acquired an image covering approximately 3 kilometers by 3 kilometers (1.9 miles by 1.9 miles) centered on the rover's location at that time in the 'Columbia Hills.'

'Husband Hill,' the tallest in the range, is just below the center of the image. The image has a resolution of about 50 centimeters (1.6 feet) per pixel. North is up; illumination is from the left. The location is near 14.8 degrees south latitude, 184.6 degrees west longitude.

The image was acquired on Nov. 2, 2005. A white box (see Figure 1) indicates the location of an excerpted portion on which the location of Spirit on that date is marked. Dr. Timothy J. Parker of the Mars Exploration Rover team at the NASA's Jet Propulsion Laboratory, Pasadena, Calif., confirmed the location of the rover in the image. The region toward the bottom of the image shows the area where the rover is currently headed. The large dark patch and other similar dark patches are accumulations of windblown sand and granules.

Zephyr: A Landsailing Rover for Venus

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.; Oleson, Steven R.; Grantier, David

2014-01-01

With an average temperature of 450C and a corrosive atmosphere at a pressure of 90 bars, the surface of Venus is the most hostile environment of any planetary surface in the solar system. Exploring the surface of Venus would be an exciting goal, since Venus is a planet with significant scientific mysteries, and interesting geology and geophysics. Technology to operate at the environmental conditions of Venus is under development. A rover on the surface of Venus with capability comparable to the rovers that have been sent to Mars would push the limits of technology in high-temperature electronics, robotics, and robust systems. Such a rover would require the ability to traverse the landscape on extremely low power levels. We have analyzed an innovative concept for a planetary rover: a sail-propelled rover to explore the surface of Venus. Such a rover can be implemented with only two moving parts; the sail, and the steering. Although the surface wind speeds are low (under 1 m/s), at Venus atmospheric density even low wind speeds develop significant force. Under funding by the NASA Innovative Advanced Concepts office, a conceptual design for such a rover has been done. Total landed mass of the system is 265 kg, somewhat less than that of the MER rovers, with a 12 square meter rigid sail. The rover folds into a 3.6 meter aeroshell for entry into the Venus atmosphere and subsequent parachute landing on the surface. Conceptual designs for a set of hightemperature scientific instruments and a UHF communication system were done. The mission design lifetime is 50 days, allowing operation during the sunlit portion of one Venus day. Although some technology development is needed to bring the high-temperature electronics to operational readiness, the study showed that such a mobility approach is feasible, and no major difficulties are seen.

Adams-Based Rover Terramechanics and Mobility Simulator - ARTEMIS

NASA Technical Reports Server (NTRS)

Trease, Brian P.; Lindeman, Randel A.; Arvidson, Raymond E.; Bennett, Keith; VanDyke, Lauren P.; Zhou, Feng; Iagnemma, Karl; Senatore, Carmine

2013-01-01

The Mars Exploration Rovers (MERs), Spirit and Opportunity, far exceeded their original drive distance expectations and have traveled, at the time of this reporting, a combined 29 kilometers across the surface of Mars. The Rover Sequencing and Visualization Program (RSVP), the current program used to plan drives for MERs, is only a kinematic simulator of rover movement. Therefore, rover response to various terrains and soil types cannot be modeled. Although sandbox experiments attempt to model rover-terrain interaction, these experiments are time-intensive and costly, and they cannot be used within the tactical timeline of rover driving. Imaging techniques and hazard avoidance features on MER help to prevent the rover from traveling over dangerous terrains, but mobility issues have shown that these methods are not always sufficient. ARTEMIS, a dynamic modeling tool for MER, allows planned drives to be simulated before commands are sent to the rover. The deformable soils component of this model allows rover-terrain interactions to be simulated to determine if a particular drive path would take the rover over terrain that would induce hazardous levels of slip or sink. When used in the rover drive planning process, dynamic modeling reduces the likelihood of future mobility issues because high-risk areas could be identified before drive commands are sent to the rover, and drives planned over these areas could be rerouted. The ARTEMIS software consists of several components. These include a preprocessor, Digital Elevation Models (DEMs), Adams rover model, wheel and soil parameter files, MSC Adams GUI (commercial), MSC Adams dynamics solver (commercial), terramechanics subroutines (FORTRAN), a contact detection engine, a soil modification engine, and output DEMs of deformed soil. The preprocessor is used to define the terrain (from a DEM) and define the soil parameters for the terrain file. The Adams rover model is placed in this terrain. Wheel and soil parameter files

Mars PathFinder Rover Traverse Image

NASA Technical Reports Server (NTRS)

1998-01-01

This figure contains an azimuth-elevation projection of the 'Gallery Panorama.' The original Simple Cylindrical mosaic has been reprojected to the inside of a sphere so that lines of constant azimuth radiate from the center and lines of constant elevation are concentric circles. This projection preserves the resolution of the original panorama. Overlaid onto the projected Martian surface is a delineation of the Sojourner rover traverse path during the 83 Sols (Martian days) of Pathfinder surface operations. The rover path was reproduced using IMP camera 'end of day' and 'Rover movie' image sequences and rover vehicle telemetry data as references.

Rover Slip Validation and Prediction Algorithm

NASA Technical Reports Server (NTRS)

Yen, Jeng

2009-01-01

A physical-based simulation has been developed for the Mars Exploration Rover (MER) mission that applies a slope-induced wheel-slippage to the rover location estimator. Using the digital elevation map from the stereo images, the computational method resolves the quasi-dynamic equations of motion that incorporate the actual wheel-terrain speed to estimate the gross velocity of the vehicle. Based on the empirical slippage measured by the Visual Odometry software of the rover, this algorithm computes two factors for the slip model by minimizing the distance of the predicted and actual vehicle location, and then uses the model to predict the next drives. This technique, which has been deployed to operate the MER rovers in the extended mission periods, can accurately predict the rover position and attitude, mitigating the risk and uncertainties in the path planning on high-slope areas.

Experimental Study of an Assembly with Extreme Particulate, Molecular, and Biological Requirements in Different Environmental Scenarios from Quality Point of View

NASA Astrophysics Data System (ADS)

Müller, A.; Urich, D.; Kreck, G.; Metzmacher, M.; Lindner, R.

2018-04-01

The presentation will cover results from an ESA supported investigation to collect lessons learned for mechanism assembly with the focus on quality and contamination requirements verification in exploration projects such as ExoMars.

Sojourner Rover Near The Dice

NASA Technical Reports Server (NTRS)

1997-01-01

Lander image of rover near The Dice (three small rocks behind the rover) and Yogi on sol 22. Color (red, green, and blue filters at 6:1 compression) image shows dark rocks, bright red dust, dark red soil exposed in rover tracks, and dark (black) soil. The APXS is in view at the rear of the vehicle, and the forward stereo cameras and laser light stripers are in shadow just below the front edge of the solar panel.

NOTE: original caption as published in Science Magazine

Rovers as Geological Helpers for Planetary Surface Exploration

NASA Technical Reports Server (NTRS)

Stoker, Carol; DeVincenzi, Donald (Technical Monitor)

2000-01-01

Rovers can be used to perform field science on other planetary surfaces and in hostile and dangerous environments on Earth. Rovers are mobility systems for carrying instrumentation to investigate targets of interest and can perform geologic exploration on a distant planet (e.g. Mars) autonomously with periodic command from Earth. For nearby sites (such as the Moon or sites on Earth) rovers can be teleoperated with excellent capabilities. In future human exploration, robotic rovers will assist human explorers as scouts, tool and instrument carriers, and a traverse "buddy". Rovers can be wheeled vehicles, like the Mars Pathfinder Sojourner, or can walk on legs, like the Dante vehicle that was deployed into a volcanic caldera on Mt. Spurr, Alaska. Wheeled rovers can generally traverse slopes as high as 35 degrees, can avoid hazards too big to roll over, and can carry a wide range of instrumentation. More challenging terrain and steeper slopes can be negotiated by walkers. Limitations on rover performance result primarily from the bandwidth and frequency with which data are transmitted, and the accuracy with which the rover can navigate to a new position. Based on communication strategies, power availability, and navigation approach planned or demonstrated for Mars missions to date, rovers on Mars will probably traverse only a few meters per day. Collecting samples, especially if it involves accurate instrument placement, will be a slow process. Using live teleoperation (such as operating a rover on the Moon from Earth) rovers have traversed more than 1 km in an 8 hour period while also performing science operations, and can be moved much faster when the goal is simply to make the distance. I will review the results of field experiments with planetary surface rovers, concentrating on their successful and problematic performance aspects. This paper will be accompanied by a working demonstration of a prototype planetary surface rover.

Mars Exploration Rover engineering cameras

USGS Publications Warehouse

Maki, J.N.; Bell, J.F.; Herkenhoff, K. E.; Squyres, S. W.; Kiely, A.; Klimesh, M.; Schwochert, M.; Litwin, T.; Willson, R.; Johnson, Aaron H.; Maimone, M.; Baumgartner, E.; Collins, A.; Wadsworth, M.; Elliot, S.T.; Dingizian, A.; Brown, D.; Hagerott, E.C.; Scherr, L.; Deen, R.; Alexander, D.; Lorre, J.

2003-01-01

NASA's Mars Exploration Rover (MER) Mission will place a total of 20 cameras (10 per rover) onto the surface of Mars in early 2004. Fourteen of the 20 cameras are designated as engineering cameras and will support the operation of the vehicles on the Martian surface. Images returned from the engineering cameras will also be of significant importance to the scientific community for investigative studies of rock and soil morphology. The Navigation cameras (Navcams, two per rover) are a mast-mounted stereo pair each with a 45?? square field of view (FOV) and an angular resolution of 0.82 milliradians per pixel (mrad/pixel). The Hazard Avoidance cameras (Hazcams, four per rover) are a body-mounted, front- and rear-facing set of stereo pairs, each with a 124?? square FOV and an angular resolution of 2.1 mrad/pixel. The Descent camera (one per rover), mounted to the lander, has a 45?? square FOV and will return images with spatial resolutions of ???4 m/pixel. All of the engineering cameras utilize broadband visible filters and 1024 x 1024 pixel detectors. Copyright 2003 by the American Geophysical Union.

Toward remotely controlled planetary rovers.

NASA Technical Reports Server (NTRS)

Moore, J. W.

1972-01-01

Studies of unmanned planetary rovers have emphasized a Mars mission. Relatively simple rovers, weighing about 50 kg and tethered to the lander, may precede semiautonomous roving vehicles. It is conceivable that the USSR will deploy a rover on Mars before Viking lands. The feasibility of the roving vehicle as an explorational tool hinges on its ability to operate for extended periods of time relatively independent of earth, to withstand the harshness of the Martian environment, and to travel hundreds of kilometers independent of the spacecraft that delivers it.

Lunokhod 2 - A retrospective Glance after 30 Years

NASA Astrophysics Data System (ADS)

Gromov, V.; Kemurdjian, A.; Bogatchev, A.; Koutcherenko, V.; Malenkov, M.; Matrossov, S.; Vladykin, S.; Petriga, V.; Khakhanov, Y.

2003-04-01

operational experience of Lunokhod-1,-2, also American LRV rover, given extensive material, which as being used while developing and manufacturing chassis and their systems for new-generation planetary rovers, as well as special equipment to Earth-based tests. The present paper considers features of the Lunochod-2 design, some results of the Lunokhod-1,-2 operation on the Moon, examples of locomotion systems for new-generation rovers with the ski-walking, wheel-walking and hopping movers. A brief review of locomotion system demonstrators (IDD-1,-2, IARES, LRMC, JRover-1,-2, etc), developed at VNIITRANSMASH and Science &Technology Rover Co. Ltd. to order of ESA and foreign organizations taking part in space explorations. The locomotion systems description for the RoSA-2 project and ExoMaDeR model for "ExoMars-2009" project, developed by RCL in cooperation and to order of ESA, is given.

Econo-ESA in semantic text similarity.

PubMed

Rahutomo, Faisal; Aritsugi, Masayoshi

2014-01-01

Explicit semantic analysis (ESA) utilizes an immense Wikipedia index matrix in its interpreter part. This part of the analysis multiplies a large matrix by a term vector to produce a high-dimensional concept vector. A similarity measurement between two texts is performed between two concept vectors with numerous dimensions. The cost is expensive in both interpretation and similarity measurement steps. This paper proposes an economic scheme of ESA, named econo-ESA. We investigate two aspects of this proposal: dimensional reduction and experiments with various data. We use eight recycling test collections in semantic text similarity. The experimental results show that both the dimensional reduction and test collection characteristics can influence the results. They also show that an appropriate concept reduction of econo-ESA can decrease the cost with minor differences in the results from the original ESA.

Mars Rover Concept Vehicle

NASA Image and Video Library

2017-06-05

Crowds gather around the scientifically-themed Mars rover concept vehicle at the Kennedy Space Center Visitor Complex. It is a part of the "Summer of Mars" program designed to provide a survey of NASA's studies of the Red Planet. The builders of the rover, Parker Brothers Concepts of Port Canaveral, Florida, incorporated input into its design from NASA subject matter experts.

Cameras on Mars 2020 Rover

NASA Image and Video Library

2017-10-31

This image presents a selection of the 23 cameras on NASA's 2020 Mars rover. Many are improved versions of the cameras on the Curiosity rover, with a few new additions as well. https://photojournal.jpl.nasa.gov/catalog/PIA22103

Selection of Portable Spectrometers for Planetary Exploration: A Comparison of 532 nm and 785 nm Raman Spectroscopy of Reduced Carbon in Archean Cherts

PubMed Central

Hutchinson, Ian B.; Ingley, Richard; Marshall, Craig P.; Olcott Marshall, Alison; Edwards, Howell G.M.

2015-01-01

Abstract Knowledge and understanding of the martian environment has advanced greatly over the past two decades, beginning with NASA's return to the surface of Mars with the Pathfinder mission and its rover Sojourner in 1997 and continuing today with data being returned by the Curiosity rover. Reduced carbon, however, is yet to be detected on the martian surface, despite its abundance in meteorites originating from the planet. If carbon is detected on Mars, it could be a remnant of extinct life, although an abiotic source is much more likely. If the latter is the case, environmental carbonaceous material would still provide a source of carbon that could be utilized by microbial life for biochemical synthesis and could therefore act as a marker for potential habitats, indicating regions that should be investigated further. For this reason, the detection and characterization of reduced or organic carbon is a top priority for both the ESA/Roscosmos ExoMars rover, currently due for launch in 2018, and for NASA's Mars 2020 mission. Here, we present a Raman spectroscopic study of Archean chert Mars analog samples from the Pilbara Craton, Western Australia. Raman spectra were acquired with a flight-representative 532 nm instrument and a 785 nm instrument with similar operating parameters. Reduced carbon was successfully detected with both instruments; however, its Raman bands were detected more readily with 785 nm excitation, and the corresponding spectra exhibited superior signal-to-noise ratios and reduced background levels. Key Words: Raman spectroscopy—Archean—Organic matter—Planetary science—Mars. Astrobiology 15, 420–429. PMID:26060980

Curiosity: The Next Mars Rover Artist Concept

NASA Image and Video Library

2011-05-19

This artist concept features NASA Mars Science Laboratory Curiosity rover, a mobile robot for investigating Mars past or present ability to sustain microbial life. The rover examines a rock on Mars with a set of tools at the end of the rover arm.

Pressurized Lunar Rover

NASA Technical Reports Server (NTRS)

Creel, Kenneth; Frampton, Jeffrey; Honaker, David; Mcclure, Kerry; Zeinali, Mazyar

1992-01-01

The pressurized lunar rover (PLR) consists of a 7 m long, 3 m diameter cylindrical main vehicle and a trailer which houses the power and heat rejection systems. The main vehicle carries the astronauts, life support systems, navigation and communication systems, directional lighting, cameras, and equipment for exploratory experiments. The PLR shell is constructed of a layered carbon-fiber/foam composite. The rover has six 1.5 m diameter wheels on the main body and two 1.5 m diameter wheels on the trailer. The wheels are constructed of composites and flex to increase traction and shock absorption. The wheels are each attached to a double A-arm aluminum suspension, which allows each wheel 1 m of vertical motion. In conjunction with a 0.75 m ground clearance, the suspension aids the rover in negotiating the uneven lunar terrain. The 15 N-m torque brushless electric motors are mounted with harmonic drive units inside each of the wheels. The rover is steered by electrically varying the speeds of the wheels on either side of the rover. The PLR trailer contains a radiosotope thermoelectric generator providing 6.7 kW. A secondary back-up energy storage system for short-term high-power needs is provided by a bank of batteries. The trailer can be detached to facilitate docking of the main body with the lunar base via an airlock located in the rear of the PLR. The airlock is also used for EVA operation during missions. Life support is a partly regenerative system with air and hygiene water being recycled. A layer of water inside the composite shell surrounds the command center. The water absorbs any damaging radiation, allowing the command center to be used as a safe haven during solar flares. Guidance, navigation, and control are supplied by a strapdown inertial measurement unit that works with the on-board computer. Star mappers provide periodic error correction. The PLR is capable of voice, video, and data transmission. It is equipped with two 5 W X-band transponder

Design of a pressurized lunar rover

NASA Technical Reports Server (NTRS)

Bhardwaj, Manoj; Bulsara, Vatsal; Kokan, David; Shariff, Shaun; Svarverud, Eric; Wirz, Richard

1992-01-01

A pressurized lunar rover is necessary for future long-term habitation of the moon. The rover must be able to safely perform many tasks, ranging from transportation and reconnaissance to exploration and rescue missions. Numerous designs were considered in an effort to maintain a low overall mass and good mobility characteristics. The configuration adopted consists of two cylindrical pressure hulls passively connected by a pressurized flexible passageway. The vehicle has an overall length of 11 meters and a total mass of seven metric tons. The rover is driven by eight independently powered two meter diameter wheels. The dual-cylinder concept allows a combination of articulated frame and double Ackermann steering for executing turns. In an emergency, the individual drive motors allow the option of skid steering as well. Two wheels are connected to either side of each cylinder through a pinned bar which allows constant ground contact. Together, these systems allow the rover to easily meet its mobility requirements. A dynamic isotope power system (DIPS), in conjunction with a closed Brayton cycle, supplied the rover with a continuous supply of 8.5 kW. The occupants are all protected from the DIPS system's radiation by a shield of tantalum. The large amount of heat produced by the DIPS and other rover systems is rejected by thermal radiators. The thermal radiators and solar collectors are located on the top of the rear cylinder. The solar collectors are used to recharge batteries for peak power periods. The rover's shell is made of graphite-epoxy coated with multi-layer insulation (MLI). The graphite-epoxy provides strength while the thermally resistant MLI gives protection from the lunar environment. An elastomer separates the two materials to compensate for the thermal mismatch. The communications system allows for communication with the lunar base with an option for direct communication with earth via a lunar satellite link. The various links are combined into one

The Little Rover that Could

NASA Technical Reports Server (NTRS)

2004-01-01

This image taken at NASA's Jet Propulsion Laboratory shows a rover test drive up a manmade slope. The slope simulates one that the Mars Exploration Rover Opportunity will face on Mars if it is sent commands to explore rock outcrop that lies farther into 'Endurance Crater.' Using sand, dirt and rocks, scientists and engineers at JPL constructed the overall platform of the slope at a 25-degree angle, with a 40-degree step in the middle. The test rover successfully descended and climbed the platform, adding confidence that Opportunity could cross a similar hurdle in Endurance Crater.

Targeting and Localization for Mars Rover Operations

NASA Technical Reports Server (NTRS)

Powell, Mark W.; Crockett, Thomas; Fox, Jason M.; Joswig, Joseph C.; Norris, Jeffrey S.; Rabe, Kenneth J.; McCurdy, Michael; Pyrzak, Guy

2006-01-01

In this work we discuss how the quality of localization knowledge impacts the remote operation of rovers on the surface of Mars. We look at the techniques of localization estimation used in the Mars Pathfinder and Mars Exploration Rover missions. We examine the motivation behind the modes of targeting for different types of activities, such as navigation, remote science, and in situ science. We discuss the virtues and shortcomings of existing approaches and new improvements in the latest operations tools used to support the Mars Exploration Rover missions and rover technology development tasks at the Jet Propulsion Laboratory. We conclude with future directions we plan to explore in improving the localization knowledge available for operations and more effective targeting of rovers and their instrument payloads.

Planning for rover opportunistic science

NASA Technical Reports Server (NTRS)

Gaines, Daniel M.; Estlin, Tara; Forest, Fisher; Chouinard, Caroline; Castano, Rebecca; Anderson, Robert C.

2004-01-01

The Mars Exploration Rover Spirit recently set a record for the furthest distance traveled in a single sol on Mars. Future planetary exploration missions are expected to use even longer drives to position rovers in areas of high scientific interest. This increase provides the potential for a large rise in the number of new science collection opportunities as the rover traverses the Martian surface. In this paper, we describe the OASIS system, which provides autonomous capabilities for dynamically identifying and pursuing these science opportunities during longrange traverses. OASIS uses machine learning and planning and scheduling techniques to address this goal. Machine learning techniques are applied to analyze data as it is collected and quickly determine new science gods and priorities on these goals. Planning and scheduling techniques are used to alter the behavior of the rover so that new science measurements can be performed while still obeying resource and other mission constraints. We will introduce OASIS and describe how planning and scheduling algorithms support opportunistic science.

Viking '79 Rover study. Volume 1: Summary report

NASA Technical Reports Server (NTRS)

1974-01-01

The results of a study to define a roving vehicle suitable for inclusion in a 1979 Viking mission to Mars are presented. The study focused exclusively on the 1979 mission incorporating a rover that would be stowed on and deployed from a modified Viking lander. The overall objective of the study was to define a baseline rover, the lander/rover interfaces, a mission operations concept, and a rover development program compatible with the 1979 launch opportunity. During the study, numerous options at the rover system and subsystem levels were examined and a baseline configuration was selected. Launch vehicle, orbiter, and lander performance capabilities were examined to ensure that the baseline rover could be transported to Mars using minimum-modified Viking '75 hardware and designs.

Rover deployment system for lunar landing mission

NASA Astrophysics Data System (ADS)

Sutoh, Masataku; Hoshino, Takeshi; Wakabayashi, Sachiko

2017-09-01

For lunar surface exploration, a deployment system is necessary to allow a rover to leave the lander. The system should be as lightweight as possible and stored retracted when launched. In this paper, two types of retractable deployment systems for lunar landing missions, telescopic- and fold-type ramps, are discussed. In the telescopic-type system, a ramp is stored with the sections overlapping and slides out during deployment. In the fold-type system, it is stored folded and unfolds for the deployment. For the development of these ramps, a design concept study and structural analysis were conducted first. Subsequently, ramp deployment and rover release tests were performed using the developed ramp prototypes. Through these tests, the validity of their design concepts and functions have been confirmed. In the rover release test, it was observed that the developed lightweight ramp was sufficiently strong for a 50-kg rover to descend. This result suggests that this ramp system is suitable for the deployment of a 300-kg-class rover on the Moon, where the gravity is about one-sixth that on Earth. The lightweight and sturdy ramp developed in this study will contribute to both safe rover deployment and increase of lander/rover payload.

NASA Curiosity Rover in Profile

NASA Image and Video Library

2011-12-09

About the size of a small SUV, NASA Curiosity rover is well equipped for a tour of Gale Crater on Mars. This impressive rover has six-wheel drive and the ability to turn in place a full 360 degrees, as well as the agility to climb steep hills.

Newest is Biggest: Three Generations of NASA Mars Rovers

NASA Image and Video Library

2008-11-19

Full-scale models of three generations of NASA Mars rovers show the increase in size from the Sojourner rover of the Mars Pathfinder project, to the twin Mars Exploration Rovers Spirit and Opportunity, to the Mars Science Laboratory rover.

Cerebellum Augmented Rover Development

NASA Technical Reports Server (NTRS)

King, Matthew

2005-01-01

Bio-Inspired Technologies and Systems (BITS) are a very natural result of thinking about Nature's way of solving problems. Knowledge of animal behaviors an be used in developing robotic behaviors intended for planetary exploration. This is the expertise of the JFL BITS Group and has served as a philosophical model for NMSU RioRobolab. Navigation is a vital function for any autonomous system. Systems must have the ability to determine a safe path between their current location and some target location. The MER mission, as well as other JPL rover missions, uses a method known as dead-reckoning to determine position information. Dead-reckoning uses wheel encoders to sense the wheel's rotation. In a sandy environment such as Mars, this method is highly inaccurate because the wheels will slip in the sand. Improving positioning error will allow the speed of an autonomous navigating rover to be greatly increased. Therefore, local navigation based upon landmark tracking is desirable in planetary exploration. The BITS Group is developing navigation technology based upon landmark tracking. Integration of the current rover architecture with a cerebellar neural network tracking algorithm will demonstrate that this approach to navigation is feasible and should be implemented in future rover and spacecraft missions.

Pathfinder Rover, Airbags, & Martian Terrain

NASA Image and Video Library

1997-07-05

This is one of the first pictures taken by the camera on the Mars Pathfinder lander shortly after its touchdown at 10:07 AM Pacific Daylight Time on July 4, 1997. The small rover, named Sojourner, is seen in the foreground in its position on a solar panel of the lander. The white material on either side of the rover is part of the deflated airbag system used to absorb the shock of the landing. Between the rover and the horizon is the rock-strewn martian surface. Two hills are seen in the right distance, profiled against the light brown sky. http://photojournal.jpl.nasa.gov/catalog/PIA00611

Design of a wheeled articulating land rover

NASA Technical Reports Server (NTRS)

Stauffer, Larry; Dilorenzo, Mathew; Yandle, Barbara

1994-01-01

The WALRUS is a wheeled articulating land rover that will provide Ames Research Center with a reliable, autonomous vehicle for demonstrating and evaluating advanced technologies. The vehicle is one component of the Ames Research Center's on-going Human Exploration Demonstration Project. Ames Research Center requested a system capable of traversing a broad spectrum of surface types and obstacles. In addition, this vehicle must have an autonomous navigation and control system on board and its own source of power. The resulting design is a rover that articulates in two planes of motion to allow for increased mobility and stability. The rover is driven by six conical shaped aluminum wheels, each with an independent, internally coupled motor. Mounted on the rover are two housings and a removable remote control system. In the housings, the motor controller board, tilt sensor, navigation circuitry, and QED board are mounted. Finally, the rover's motors and electronics are powered by thirty C-cell rechargeable batteries, which are located in the rover wheels and recharged by a specially designed battery charger.

International testing of a Mars rover prototype

NASA Astrophysics Data System (ADS)

Kemurjian, Alexsandr Leonovich; Linkin, V.; Friedman, L.

1993-03-01

Tests on a prototype engineering model of the Russian Mars 96 Rover were conducted by an international team in and near Death Valley in the United States in late May, 1992. These tests were part of a comprehensive design and testing program initiated by the three Russian groups responsible for the rover development. The specific objectives of the May tests were: (1) evaluate rover performance over different Mars-like terrains; (2) evaluate state-of-the-art teleoperation and autonomy development for Mars rover command, control and navigation; and (3) organize an international team to contribute expertise and capability on the rover development for the flight project. The range and performance that can be planned for the Mars mission is dependent on the degree of autonomy that will be possible to implement on the mission. Current plans are for limited autonomy, with Earth-based teleoperation for the nominal navigation system. Several types of television systems are being investigated for inclusion in the navigation system including panoramic camera, stereo, and framing cameras. The tests used each of these in teleoperation experiments. Experiments were included to consider use of such TV data in autonomy algorithms. Image processing and some aspects of closed-loop control software were also tested. A micro-rover was tested to help consider the value of such a device as a payload supplement to the main rover. The concept is for the micro-rover to serve like a mobile hand, with its own sensors including a television camera.

Delivering Images for Mars Rover Science Planning

NASA Technical Reports Server (NTRS)

Edmonds, Karina

2008-01-01

A methodology has been developed for delivering, via the Internet, images transmitted to Earth from cameras on the Mars Explorer Rovers, the Phoenix Mars Lander, the Mars Science Laboratory, and the Mars Reconnaissance Orbiter spacecraft. The images in question are used by geographically dispersed scientists and engineers in planning Rover scientific activities and Rover maneuvers pertinent thereto.

Using Planning, Scheduling and Execution for Autonomous Mars Rover Operations

NASA Technical Reports Server (NTRS)

Estlin, Tara A.; Gaines, Daniel M.; Chouinard, Caroline M.; Fisher, Forest W.; Castano, Rebecca; Judd, Michele J.; Nesnas, Issa A.

2006-01-01

With each new rover mission to Mars, rovers are traveling significantly longer distances. This distance increase raises not only the opportunities for science data collection, but also amplifies the amount of environment and rover state uncertainty that must be handled in rover operations. This paper describes how planning, scheduling and execution techniques can be used onboard a rover to autonomously generate and execute rover activities and in particular to handle new science opportunities that have been identified dynamically. We also discuss some of the particular challenges we face in supporting autonomous rover decision-making. These include interaction with rover navigation and path-planning software and handling large amounts of uncertainty in state and resource estimations. Finally, we describe our experiences in testing this work using several Mars rover prototypes in a realistic environment.

2017 Exploration Rover Challenge event.

NASA Image and Video Library

2017-03-03

2017 Exploration Rover Challenge events at the U.S. Space and Rocket Center in Huntsville, Alabama. High school and college students from around the U.S. and the world come together for this 2 day event which challenges them to compete for the fastest time as well as technical design of the actual rover itself.

NASA Mars Rover Curiosity at JPL, Side View

NASA Image and Video Library

2011-04-06

The rover for NASA Mars Science Laboratory mission, named Curiosity, is about 3 meters 10 feet long, not counting the additional length that the rover arm can be extended forward. The front of the rover is on the left in this side view.

Opportunity Rover Nears Mars Marathon Feat

NASA Image and Video Library

2015-02-10

In February 2015, NASA Mars Exploration Rover Opportunity is approaching a cumulative driving distance on Mars equal to the length of a marathon race. This map shows the rover position relative to where it could surpass that distance.

Mars Rover Studies Soil on Mars

NASA Technical Reports Server (NTRS)

2004-01-01

Both out on the plains of Gusev Crater and in the 'Columbia Hills,' NASA's Mars Exploration Rover Spirit has encountered a thin (approximately 1 millimeter or 0.04 inch thick), light-colored, fine-grained layer of material on top of a dark-colored, coarser layer of soil. In the hills, Spirit stopped to take a closer look at soil compacted by one of the rover's wheels. Spirit took this image with the front hazard-avoidance camera during the rover's 314th martian day, or sol (Nov. 19, 2004).

INRRI-EDM/2016: the first laser retroreflector on the surface of Mars

NASA Astrophysics Data System (ADS)

Dell'Agnello, S.; Delle Monache, G.; Porcelli, L.; Boni, A.; Contessa, S.; Ciocci, E.; Martini, M.; Tibuzzi, M.; Intaglietta, N.; Salvatori, L.; Tuscano, P.; Patrizi, G.; Mondaini, C.; Lops, C.; Vittori, R.; Maiello, M.; Flamini, E.; Marchetti, E.; Bianco, G.; Mugnuolo, R.; Cantone, C.

2017-01-01

During Summer 2015 the SCF_Lab (Satellite/lunar/GNSS laser ranging/altimetry and cube/microsat Characterization Facilities Laboratory, http://www.lnf.infn.it/esperimenti/etrusco, Team of INFN-LNF, with support by ASI, carried out an intense activity of final design, manufacturing and testing in order to construct, space qualify and finally integrate INRRI-EDM/2016 on ESA's ExoMars EDM spacecraft (also dubbed "Schiaparelli"), which was successfully launched on March 14, 2016. INRRI (INstrument for landing-Roving laser Retroreflector Investigation) for the EDM (Entry descent and landing Demonstration Module) 2016 mission is a compact, lightweight, passive, maintenance-free array of eight cube corner laser retroreflectors fixed to an aluminum alloy frame through the use of silicon rubber suitable for space applications. INRRI was installed on the top panel of the EDM Central Bay on October 14, 2015. It will enable the EDM to be laser-located from Mars orbiters, through laser ranging and altimetry, lidar atmospheric observations from orbit, laser flashes emitted by orbiters, and lasercom. One or all of the above means of observation can be supported by INRRI when there is an active, laser-equipped orbiter, especially after EDM end-of-life and for a long time. INRRI goals will cover science (Mars geodesy/geophysics, future Mars test of General Relativity, GR), technology and exploration. Concerning the latter two, INRRI will support mars-georeferencing of the EDM landing site, support potential precision lidar-based landing next to the EDM, support test & diagnostics of lasercom for data exchange among Mars orbit, Mars surface and Earth, and it will be a precursor for additional Mars surface retroreflectors, for example on exploration rovers. This paper describes in detail our innovative payload, hopefully the very first to be deployed safely with the lander Schiaparelli on the Mars surface, and its space qualification for the ExoMars EDM 2016 mission. Despite the fate

A Comparison of the Unpressurized Rover and Small Pressurized Rover During a Desert Field Evaluation

NASA Technical Reports Server (NTRS)

Litaker, Harry; Thompson, Shelby; Howard, Robert

2009-01-01

To effectively explore the lunar surface, astronauts will need a transportation vehicle which can traverse all types of terrain. Currently, the National Aeronautics and Space Administration s (NASA) is investigating two lunar rover configurations to meet such a requirement. Under the Lunar Electric Rover (LER) project, a comparison study between the unpressurized rover (UPR) and the small pressurized rover (SPR) was conducted at the Black Point Lava Flow in Arizona. The objective of the study was to obtain human-in-the-loop performance data on the vehicles with respect to human-machine interfaces, vehicle impacts on crew productivity, and scientific observations. Four male participants took part in four, one-day field tests using the exact same terrain and scientific sites for an accurate comparison between vehicle configurations. Subjective data was collected using several human factors performance measures. Results indicate either vehicle configuration was generally acceptable for a lunar mission; however, the SPR configuration was preferred over the UPR configuration primarily for the SPR s ability to cause less fatigue and enabling greater crew productivity.

Preliminary Surface Thermal Design of the Mars 2020 Rover

NASA Technical Reports Server (NTRS)

Novak, Keith S.; Kempenaar, Jason G.; Redmond, Matthew J.; Bhandari, Pradeep

2015-01-01

The Mars 2020 rover, scheduled for launch in July 2020, is currently being designed at NASA's Jet Propulsion Laboratory. The Mars 2020 rover design is derived from the Mars Science Laboratory (MSL) rover, Curiosity, which has been exploring the surface of Mars in Gale Crater for over 2.5 years. The Mars 2020 rover will carry a new science payload made up of 7 instruments. In addition, the Mars 2020 rover is responsible for collecting a sample cache of Mars regolith and rock core samples that could be returned to Earth in a future mission. Accommodation of the new payload and the Sampling Caching System (SCS) has driven significant thermal design changes from the original MSL rover design. This paper describes the similarities and differences between the heritage MSL rover thermal design and the new Mars 2020 thermal design. Modifications to the MSL rover thermal design that were made to accommodate the new payload and SCS are discussed. Conclusions about thermal design flexibility are derived from the Mars 2020 preliminary thermal design experience.

NASA Planetary Rover Program

NASA Technical Reports Server (NTRS)

Lavery, David; Bedard, Roger J., Jr.

1991-01-01

The NASA Planetary Rover Project was initiated in 1989. The emphasis of the work to date has been on development of autonomous navigation technology within the context of a high mobility wheeled vehicle at the JPL and an innovative legged locomotion concept at Carnegie Mellon University. The status and accomplishments of these two efforts are discussed. First, however, background information is given on the three rover types required for the Space Exploration Initiative (SEI) whose objective is a manned mission to Mars.

Test Rover Sinks into Prepared Soil

NASA Image and Video Library

2009-06-30

While a test rover rolls off a plywood surface into a prepared bed of soft soil, rover team members Colette Lohr left and Kim Lichtenberg center eye the wheels digging into the soil and Paolo Bellutta enters the next driving command.

Scooped Material on Rover Observation Tray

NASA Image and Video Library

2012-10-25

Sample material from the fourth scoop of Martian soil collected by NASA Mars rover Curiosity is on the rover observation tray in this image taken during the mission 78th Martian sol, Oct. 24, 2012 by Curiosity left Navigation Camera.

Rover 2

NASA Image and Video Library

2003-11-07

In the Payload Hazardous Servicing Facility, the lander petals of the Mars Exploration Rover 2 MER-2 have been reopened and its solar panels deployed to allow technicians access to the spacecraft to remove one of its circuit boards.

Mars rover local navigation and hazard avoidance

NASA Technical Reports Server (NTRS)

Wilcox, B. H.; Gennery, D. B.; Mishkin, A. H.

1989-01-01

A Mars rover sample return mission has been proposed for the late 1990's. Due to the long speed-of-light delays between earth and Mars, some autonomy on the rover is highly desirable. JPL has been conducting research in two possible modes of rover operation, Computer-Aided Remote Driving and Semiautonomous Navigation. A recently-completed research program used a half-scale testbed vehicle to explore several of the concepts in semiautonomous navigation. A new, full-scale vehicle with all computational and power resources on-board will be used in the coming year to demonstrate relatively fast semiautonomous navigation. The computational and power requirements for Mars rover local navigation and hazard avoidance are discussed.

Mars Rover Local Navigation And Hazard Avoidance

NASA Astrophysics Data System (ADS)

Wilcox, B. H.; Gennery, D. B.; Mishkin, A. H.

1989-03-01

A Mars rover sample return mission has been proposed for the late 1990's. Due to the long speed-of-light delays between Earth and Mars, some autonomy on the rover is highly desirable. JPL has been conducting research in two possible modes of rover operation, Computer-Aided Remote Driving and Semiautonomous Navigation. A recently-completed research program used a half-scale testbed vehicle to explore several of the concepts in semiautonomous navigation. A new, full-scale vehicle with all computational and power resources on-board will be used in the coming year to demonstrate relatively fast semiautonomous navigation. The computational and power requirements for Mars rover local navigation and hazard avoidance are discussed.

A Mars Rover Mission Simulation on Kilauea Volcano

NASA Technical Reports Server (NTRS)

Stoker, Carol; Cuzzi, Jeffery N. (Technical Monitor)

1995-01-01

A field experiment to simulate a rover mission on Mars was performed using the Russian Marsokhod rover deployed on Kilauea Volcano HI in February, 1995. A Russian Marsokhod rover chassis was equipped with American avionics equipment, stereo cameras on a pan and tilt platform, a digital high resolution body-mounted camera, and a manipulator arm on which was mounted a camera with a close-up lens. The six wheeled rover is 2 meters long and has a mass of 120 kg. The imaging system was designed to simulate that used on the planned "Mars Together" mission. The rover was deployed on Kilauea Volcano HI and operated from NASA Ames by a team of planetary geologists and exobiologists. Two modes of mission operations were simulated for three days each: (1) long time delay, low data bandwidth (simulating a Mars mission), and (2) live video, wide-bandwidth data (allowing active control simulating a Lunar rover mission or a Mars rover mission controlled from on or near the Martian surface). Simulated descent images (aerial photographs) were used to plan traverses to address a detailed set of science questions. The actual route taken was determined by the science team and the traverse path was frequently changed in response to the data acquired and to unforeseen operational issues. Traverses were thereby optimized to efficiently answer scientific questions. During the Mars simulation, the rover traversed a distance of 800 m. Based on the time delay between Earth and Mars, we estimate that the same operation would have taken 30 days to perform on Mars. This paper will describe the mission simulation and make recommendations about incorporating rovers into the Mars surveyor program.

Thin-film optical pass band filters based on new photo-lithographic process for CaSSIS FPA detector on Exomars TGO mission: development, integration, and test

NASA Astrophysics Data System (ADS)

Gambicorti, L.; Piazza, D.; Gerber, M.; Pommerol, A.; Roloff, V.; Ziethe, R.; Zimmermann, C.; Da Deppo, V.; Cremonese, G.; Ficai Veltroni, I.; Marinai, M.; Di Carmine, E.; Bauer, T.; Moebius, P.; Thomas, N.

2016-08-01

A new technique based on photolithographic processes of thin-film optical pass band coatings on a monolithic substrate has been applied to the filters of the Focal Plane Assembly (FPA) of the Colour and Stereo Surface Imaging System (CaSSIS) that will fly onboard of the ExoMars Trace Gas Orbiter to be launched in March 2016 by ESA. The FPA including is one of the spare components of the Simbio-Sys instrument of the Italian Space Agency (ASI) that will fly on ESA's Bepi Colombo mission to Mercury. The detector, developed by Raytheon Vision Systems, is a 2kx2k hybrid Si-PIN array with a 10 μm pixel. The detector is housed within a block and has filters deposited directly on the entrance window. The window is a 1 mm thick monolithic plate of fused silica. The Filter Strip Assembly (FSA) is produced by Optics Balzers Jena GmbH and integrated on the focal plane by Leonardo-Finmeccanica SpA (under TAS-I responsibility). It is based on dielectric multilayer interference coatings, 4 colour bands selected with average in-band transmission greater than 95 percent within wavelength range (400-1100 nm), giving multispectral images on the same detector and thus allows CaSSIS to operate in push-frame mode. The Field of View (FOV) of each colour band on the detector is surrounded by a mask of low reflective chromium (LRC), which also provides with the straylight suppression required (an out-of-band transmission of less than 10-5/nm). The mask has been shown to deal effectively with cross-talk from multiple reflections between the detector surface and the filter. This paper shows the manufacturing and optical properties of the FSA filters and the FPA preliminary on-ground calibration results.

Path planning for planetary rover using extended elevation map

NASA Technical Reports Server (NTRS)

Nakatani, Ichiro; Kubota, Takashi; Yoshimitsu, Tetsuo

1994-01-01

This paper describes a path planning method for planetary rovers to search for paths on planetary surfaces. The planetary rover is required to travel safely over a long distance for many days over unfamiliar terrain. Hence it is very important how planetary rovers process sensory information in order to understand the planetary environment and to make decisions based on that information. As a new data structure for informational mapping, an extended elevation map (EEM) has been introduced, which includes the effect of the size of the rover. The proposed path planning can be conducted in such a way as if the rover were a point while the size of the rover is automatically taken into account. The validity of the proposed methods is verified by computer simulations.

From water to life: from Phoenix to EXOMARS

NASA Astrophysics Data System (ADS)

Giorgio, V.

Latest news: there definitely is water on Mars. NASA issued the announcement following measurements performed by the Phoenix Mars Lander spacecraft on samples gathered from the planet's surface. Such a discovery confirms what the scientific community has long posited: some kind of life form could have developed on Mars, and may still be there; a kind of life form that was undoubtedly able to adapt to the Red Planet's harshest environmental conditions. However, scientists won't stop here: quite the contrary, they intend to keep going. The next step is to find evidence of that life, traces of its past or current existence. That is the task that was assigned to EXOMARS European Mission, whose main purpose is carrying out research into Exobiology, that is to say research into the origin, evolution and spreading of life across the universe.

Mars Exploration Rover, Vertical Artist Concept

NASA Image and Video Library

2003-12-15

An artist's concept portrays a NASA Mars Exploration Rover on the surface of Mars. Two rovers, Spirit and Opportunity, will reach Mars in January 2004. Each has the mobility and toolkit to function as a robotic geologist. http://photojournal.jpl.nasa.gov/catalog/PIA04928

Combined Instrumentation Package COMARS+ for the ExoMars Schiaparelli Lander

NASA Astrophysics Data System (ADS)

Gülhan, Ali; Thiele, Thomas; Siebe, Frank; Kronen, Rolf

2018-02-01

In order to measure aerothermal parameters on the back cover of the ExoMars Schiaparelli lander the instrumentation package COMARS+ was developed by DLR. Consisting of three combined aerothermal sensors, one broadband radiometer sensor and an electronic box the payload provides important data for future missions. The aerothermal sensors called COMARS combine four discrete sensors measuring static pressure, total heat flux, temperature and radiative heat flux at two specific spectral bands. The infrared radiation in a broadband spectral range is measured by the separate broadband radiometer sensor. The electronic box of the payload is used for amplification, conditioning and multiplexing of the sensor signals. The design of the payload was mainly carried out using numerical tools including structural analyses, to simulate the main mechanical loads which occur during launch and stage separation, and thermal analyses to simulate the temperature environment during cruise phase and Mars entry. To validate the design an extensive qualification test campaign was conducted on a set of qualification models. The tests included vibration and shock tests to simulate launch loads and stage separation shocks. Thermal tests under vacuum condition were performed to simulate the thermal environment of the capsule during the different flight phases. Furthermore electromagnetic compatibility tests were conducted to check that the payload is compatible with the electromagnetic environment of the capsule and does not emit electromagnetic energy that could cause electromagnetic interference in other devices. For the sensor heads located on the ExoMars back cover radiation tests were carried out to verify their radiation hardness. Finally the bioburden reduction process was demonstrated on the qualification hardware to show the compliance with the planetary protection requirements. To test the actual heat flux, pressure and infrared radiation measurement under representative conditions

Aerokats and Rover

NASA Astrophysics Data System (ADS)

Bland, G.; Miles, T.; Nagchaudhuri, A.; Henry, A.; Coronado, P.; Smith, S.; Bydlowski, D.; Gaines, J.; Hartman, C.

2015-12-01

Two novel tools are being developed for team-based environmental and science observations suitable for use in Middle School through Undergraduate settings. Partnerships with NASA's Goddard Space Flight Center are critical for this work, and the concepts and practices are aimed at providing affordable and easy-to-field hardware to the classroom. The Advanced Earth Research Observation Kites and Atmospheric and Terrestrial Sensors (AEROKATS) system brings affordable and easy-to-field remote sensing and in-situ measurements within reach for local-scale Earth observations and data gathering. Using commercial kites, a wide variety of sensors, and a new NASA technology, AEROKATS offers a quick-to-learn method to gather airborne remote sensing and in-situ data for classroom analysis. The Remotely Operated Vehicle for Education and Research (ROVER) project introduces team building for mission operations and research, using modern technologies for exploring aquatic environments. ROVER projects use hobby-type radio control hardware and common in-water instrumentation, to highlight the numerous roles and responsibilities needed in real-world research missions, such as technology, operations, and science disciplines. NASA GSFC's partnerships have enabled the fielding of several AEROKATS and ROVER prototypes, and results suggest application of these methods is feasible and engaging.

Computer-Design Drawing for NASA 2020 Mars Rover

NASA Image and Video Library

2016-07-15

NASA's 2020 Mars rover mission will go to a region of Mars thought to have offered favorable conditions long ago for microbial life, and the rover will search for signs of past life there. It will also collect and cache samples for potential return to Earth, for many types of laboratory analysis. As a pioneering step toward how humans on Mars will use the Red Planet's natural resources, the rover will extract oxygen from the Martian atmosphere. This 2016 image comes from computer-assisted-design work on the 2020 rover. The design leverages many successful features of NASA's Curiosity rover, which landed on Mars in 2012, but it adds new science instruments and a sampling system to carry out the new goals for the mission. http://photojournal.jpl.nasa.gov/catalog/PIA20759

Hybrid Aerial/Rover Vehicle

NASA Technical Reports Server (NTRS)

Bachelder, Aaron

2003-01-01

A proposed instrumented robotic vehicle called an "aerover" would fly, roll along the ground, and/or float on bodies of liquid, as needed. The aerover would combine features of an aerobot (a robotic lighter-than-air balloon) and a wheeled robot of the "rover" class. An aerover would also look very much like a variant of the "beach-ball" rovers. Although the aerover was conceived for use in scientific exploration of Titan (the largest moon of the planet Saturn), the aerover concept could readily be adapted to similar uses on Earth.

Rover Magnets All Around

NASA Technical Reports Server (NTRS)

2004-01-01

This illustration shows the locations of the various magnets on the Mars Exploration Rover, which are: its front side, or chest; its back, near the color calibration target; and on its rock abrasion tool. Scientists will use these tools to collect dust for detailed studies. The origins of martian dust are a mystery, although it is believed to come from at least one of three sources: volcanic ash, pulverized rocks or mineral precipitates from liqiud water. By studying the dust with the rover's two spectrometers, scientists hope to find an answer.

Overview of the Mars Exploration Rover Mission

NASA Astrophysics Data System (ADS)

Adler, M.

2002-12-01

The Mars Exploration Rover (MER) Project is an ambitious mission to land two highly capable rovers at different sites in the equatorial region of Mars. The two vehicles are launched separately in May through July of 2003. Mars surface operations begin on January 4, 2004 with the first landing, followed by the second landing three weeks later on January 25. The useful surface lifetime of each rover will be at least 90 sols. The science objectives of exploring multiple locations within each of two widely separated and scientifically distinct landing sites will be accomplished along with the demonstration of key surface exploration technologies for future missions. The two MER spacecraft are planned to be identical. The rovers are landed using the Mars Pathfinder approach of a heatshield and parachute to slow the vehicle relative to the atmosphere, solid rockets to slow the lander near the surface, and airbags to cushion the surface impacts. During entry, descent, and landing, the vehicles will transmit coded tones directly to Earth, and in the terminal descent phase will also transmit telemetry to the MGS orbiter to indicate progress through the critical events. Once the lander rolls to a stop, a tetrahedral structure opens to right the lander and to reveal the folded rover, which then deploys and later by command will roll off of the lander to begin its exploration. Each six-wheeled rover carries a suite of instruments to collect contextual information about the landing site using visible and thermal infrared remote sensing, and to collect in situ information on the composition, mineralogy, and texture of selected Martian soils and rocks using an arm-mounted microscopic imager, rock abrasion tool, and spectrometers. During their surface missions, the rovers will communicate with Earth directly through the Deep Space Network as well as indirectly through the Odyssey and MGS orbiters. The solar-powered rovers will be commanded in the morning of each Sol, with the

Autonomous Instrument Placement for Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Leger, P. Chris; Maimone, Mark

2009-01-01

Autonomous Instrument Placement (AutoPlace) is onboard software that enables a Mars Exploration Rover to act autonomously in using its manipulator to place scientific instruments on or near designated rock and soil targets. Prior to the development of AutoPlace, it was necessary for human operators on Earth to plan every motion of the manipulator arm in a time-consuming process that included downlinking of images from the rover, analysis of images and creation of commands, and uplinking of commands to the rover. AutoPlace incorporates image analysis and planning algorithms into the onboard rover software, eliminating the need for the downlink/uplink command cycle. Many of these algorithms are derived from the existing groundbased image analysis and planning algorithms, with modifications and augmentations for onboard use.

Rover-based visual target tracking validation and mission infusion

NASA Technical Reports Server (NTRS)

Kim, Won S.; Steele, Robert D.; Ansar, Adnan I.; Ali, Khaled; Nesnas, Issa

2005-01-01

The Mars Exploration Rovers (MER'03), Spirit and Opportunity, represent the state of the art in rover operations on Mars. This paper presents validation experiments of different visual tracking algorithms using the rover's navigation camera.

A Small Lunar Rover for Reconnaissance in the Framework of ExoGeoLab Project, System Level Design

NASA Astrophysics Data System (ADS)

Noroozi, A.; Ha, L.; van Dalen, P.; Maas, A.; de Raedt, S.; Poulakis, P.; Foing, B. H.

2009-04-01

Scientific research is based on accurate measurement and so depends on the possibilities of accurate instruments. In planetary science and exploration it is often difficult or even impossible in some cases to gather accurate and direct information from a specified target. It is important to gather as much information as possible to be able to analyze and extract scientific data from them. One possibility to do so is to send equipments to the target and perform the measurements locally. The measurement data is then sent to base station for further analysis. To send measurement instruments to measurement point it is important to have a good estimation of the environmental situation there. This information can be collected by sending a pilot rover to the area of interest to collect visual information. The aim of this work is to develop a tele-operated small rover, Google Lunar X-Prize (GLXP) class, which is capable of surviving in the Moon environment and perform reconnaissance to provide visual information to base station of ExoGeoLab project of ESA/ESTEC. Using the state of the art developments in electronics, software and communication technologies allows us to achieve increase in accuracy while reducing size and power consumption. Target mass of the rover is lees than 5 kg and its target dimension is 300 x 60 x 80 mm3. The small size of the rover gives the possibility of accessing places which are normally out of reach. The required power for operation and the cost of launch is considerably reduced compared to large rovers which makes the mission more cost effective. The mission of the rover is to capture high resolution images and transmit them to base station. Data link between lover and base station is wireless and rover should supply its own energy. The base station can be either a habitat or a relay station. The navigation of the rover is controlled by an operator in a habitat who has a view from the stereo camera on the rover. This stereo camera gives image

Positive-Buoyancy Rover for Under Ice Mobility

NASA Technical Reports Server (NTRS)

Leichty, John M.; Klesh, Andrew T.; Berisford, Daniel F.; Matthews, Jaret B.; Hand, Kevin P.

2013-01-01

A buoyant rover has been developed to traverse the underside of ice-covered lakes and seas. The rover operates at the ice/water interface and permits direct observation and measurement of processes affecting freeze- over and thaw events in lake and marine environments. Operating along the 2- D ice-water interface simplifies many aspects of underwater exploration, especially when compared to submersibles, which have difficulty in station-keeping and precision mobility. The buoyant rover consists of an all aluminum body with two aluminum sawtooth wheels. The two independent body segments are sandwiched between four actuators that permit isolation of wheel movement from movement of the central tether spool. For normal operations, the wheels move while the tether spool feeds out line and the cameras on each segment maintain a user-controlled fixed position. Typically one camera targets the ice/water interface and one camera looks down to the lake floor to identify seep sources. Each wheel can be operated independently for precision turning and adjustments. The rover is controlled by a touch- tablet interface and wireless goggles enable real-time viewing of video streamed from the rover cameras. The buoyant rover was successfully deployed and tested during an October 2012 field campaign to investigate methane trapped in ice in lakes along the North Slope of Alaska.

ESA Atmospheric Toolbox

NASA Astrophysics Data System (ADS)

Niemeijer, Sander

2017-04-01

The ESA Atmospheric Toolbox (BEAT) is one of the ESA Sentinel Toolboxes. It consists of a set of software components to read, analyze, and visualize a wide range of atmospheric data products. In addition to the upcoming Sentinel-5P mission it supports a wide range of other atmospheric data products, including those of previous ESA missions, ESA Third Party missions, Copernicus Atmosphere Monitoring Service (CAMS), ground based data, etc. The toolbox consists of three main components that are called CODA, HARP and VISAN. CODA provides interfaces for direct reading of data from earth observation data files. These interfaces consist of command line applications, libraries, direct interfaces to scientific applications (IDL and MATLAB), and direct interfaces to programming languages (C, Fortran, Python, and Java). CODA provides a single interface to access data in a wide variety of data formats, including ASCII, binary, XML, netCDF, HDF4, HDF5, CDF, GRIB, RINEX, and SP3. HARP is a toolkit for reading, processing and inter-comparing satellite remote sensing data, model data, in-situ data, and ground based remote sensing data. The main goal of HARP is to assist in the inter-comparison of datasets. By appropriately chaining calls to HARP command line tools one can pre-process datasets such that two datasets that need to be compared end up having the same temporal/spatial grid, same data format/structure, and same physical unit. The toolkit comes with its own data format conventions, the HARP format, which is based on netcdf/HDF. Ingestion routines (based on CODA) allow conversion from a wide variety of atmospheric data products to this common format. In addition, the toolbox provides a wide range of operations to perform conversions on the data such as unit conversions, quantity conversions (e.g. number density to volume mixing ratios), regridding, vertical smoothing using averaging kernels, collocation of two datasets, etc. VISAN is a cross-platform visualization and

Visual Target Tracking on the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Kim, Won; Biesiadecki, Jeffrey; Ali, Khaled

2008-01-01

Visual target tracking (VTT) software has been incorporated into Release 9.2 of the Mars Exploration Rover (MER) flight software, now running aboard the rovers Spirit and Opportunity. In the VTT operation (see figure), the rover is driven in short steps between stops and, at each stop, still images are acquired by actively aimed navigation cameras (navcams) on a mast on the rover (see artistic rendition). The VTT software processes the digitized navcam images so as to track a target reliably and to make it possible to approach the target accurately to within a few centimeters over a 10-m traverse.

Enabling Autonomous Rover Science through Dynamic Planning and Scheduling

NASA Technical Reports Server (NTRS)

Estlin, Tara A.; Gaines, Daniel; Chouinard, Caroline; Fisher, Forest; Castano, Rebecca; Judd, Michele; Nesnas, Issa

2005-01-01

This paper describes how dynamic planning and scheduling techniques can be used onboard a rover to autonomously adjust rover activities in support of science goals. These goals could be identified by scientists on the ground or could be identified by onboard data-analysis software. Several different types of dynamic decisions are described, including the handling of opportunistic science goals identified during rover traverses, preserving high priority science targets when resources, such as power, are unexpectedly over-subscribed, and dynamically adding additional, ground-specified science targets when rover actions are executed more quickly than expected. After describing our specific system approach, we discuss some of the particular challenges we have examined to support autonomous rover decision-making. These include interaction with rover navigation and path-planning software and handling large amounts of uncertainty in state and resource estimations.

Martian Surface Mineralogy from Rovers with Spirit, Opportunity, and Curiosity

NASA Technical Reports Server (NTRS)

Morris, Richard V.

2016-01-01

Beginning in 2004, NASA has landed three well-instrumented rovers on the equatorial martian surface. The Spirit rover landed in Gusev crater in early January, 2004, and the Opportunity rover landed on the opposite side of Mars at Meridian Planum 21 days later. The Curiosity rover landed in Gale crater to the west of Gusev crater in August, 2012. Both Opportunity and Curiosity are currently operational. The twin rovers Spirit and Opportunity carried Mossbauer spectrometers to determine the oxidation state of iron and its mineralogical composition. The Curiosity rover has an X-ray diffraction instrument for identification and quantification of crystalline materials including clay minerals. Instrument suites on all three rovers are capable of distinguishing primary rock-forming minerals like olivine, pyroxene and magnetite and products of aqueous alteration in including amorphous iron oxides, hematite, goethite, sulfates, and clay minerals. The oxidation state of iron ranges from that typical for unweathered rocks and soils to nearly completely oxidized (weathered) rocks and soils as products of aqueous and acid-sulfate alteration. The in situ rover mineralogy also serves as ground-truth for orbital observations, and orbital mineralogical inferences are used for evaluating and planning rover exploration.

ESA achievements: more than thirty years of pioneering space activity

NASA Astrophysics Data System (ADS)

Wilson, Andrew

2005-06-01

Contents: ESA and science. ESA and Earth observation (Explorer Core missions, Explorer opportunity missions, Earth Watch). ESA and telecommunications. ESA and navigation. ESA and launchers. ESA and manned spaceflight. The ESA Science Programme is one of the Agency's mandatory activities, in which all Member States participate. The origins of the Science Programme, the oldest in the Agency, hark back to the days of ESRO. ESRO's seven successful scientific satellites paved the way for ESA's remarkable series of pioneering missions that have placed Europe at the vanguard of disciplines such as X-ray, gamma-ray and infrared astronomy; astrometry; solar system sciences (especially cometary), solar and heliospheric physics, as well as space plasma physics. Driven by the limited available means, ESA's Science Programme has consistently focused on missions with strong innovative contents. All of the missions launched or approved so far are covered in separate entries in this volume.

Color Mosaic of Rover & Terrain

NASA Image and Video Library

1997-07-05

NASA's Sojourner rover and undeployed ramps onboard the Mars Pathfinder spacecraft can be seen in this image, by the Imager for Mars Pathfinder (IMP) on July 4 (Sol 1). This image has been corrected for the curvature created by parallax. The microrover Sojourner is latched to the petal, and has not yet been deployed. The ramps are a pair of deployable metal reels which will provide a track for the rover as it slowly rolls off the lander, over the spacecraft's deflated airbags, and onto the surface of Mars. Pathfinder scientists will use this image to determine whether it is safe to deploy the ramps. One or both of the ramps will be unfurled, and then scientists will decide whether the rover will use either the forward or backward ramp for its descent. http://photojournal.jpl.nasa.gov/catalog/PIA00621

A Modular Re-configurable Rover System

NASA Astrophysics Data System (ADS)

Bouloubasis, A.; McKee, G.; Active Robotics Lab

In this paper we present the novel concepts incorporated in a planetary surface exploration rover design that is currently under development. The Multitasking Rover (MTR) aims to demonstrate functionality that will cover many of the current and future needs such as rough-terrain mobility, modularity and upgradeability [1]. The rover system has enhanced mobility characteristics. It operates in conjunction with Science Packs (SPs) and Tool Packs (TPs) - modules attached to the main frame of the rover, which are either special tools or science instruments and alter the operation capabilities of the system. To date, each rover system design is very much task driven for example, the scenario of cooperative transportation of extended payloads [2], comprises two rovers each equipped with a manipulator dedicated to the task [3]. The MTR approach focuses mostly on modularity and upgradeability presenting at the same time a fair amount of internal re-configurability for the sake of rough terrain stability. The rover itself does not carry any scientific instruments or tools. To carry out the scenario mentioned above, the MTR would have to locate and pick-up a TP with the associated manipulator. After the completion of the task the TP could be put away to a storage location enabling the rover to utilize a different Pack. The rover will not only offer mobility to these modules, but also use them as tools, transforming its role and functionality. The advantage of this approach is that instead of sending a large number of rovers to perform a variety of tasks, a smaller number of MTRs could be deployed with a large number of SPs/TPs, offering multiples of the functionality at a reduced payload. Two SPs or TPs (or a combination of) can be carried and deployed. One of the key elements in the design of the four wheeled rover, lies within its suspension system. It comprises a linear actuator located within each leg and also an active differential linking the two shoulders. This novel

Design of a Mars rover and sample return mission

NASA Technical Reports Server (NTRS)

Bourke, Roger D.; Kwok, Johnny H.; Friedlander, Alan

1990-01-01

The design of a Mars Rover Sample Return (MRSR) mission that satisfies scientific and human exploration precursor needs is described. Elements included in the design include an imaging rover that finds and certifies safe landing sites and maps rover traverse routes, a rover that operates the surface with an associated lander for delivery, and a Mars communications orbiter that allows full-time contact with surface elements. A graph of MRSR candidate launch vehice performances is presented.

Visual Target Tracking on the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Kim, Won S.; Biesiadecki, Jeffrey J.; Ali, Khaled S.

2008-01-01

Visual Target Tracking (VTT) has been implemented in the new Mars Exploration Rover (MER) Flight Software (FSW) R9.2 release, which is now running on both Spirit and Opportunity rovers. Applying the normalized cross-correlation (NCC) algorithm with template image magnification and roll compensation on MER Navcam images, VTT tracks the target and enables the rover to approach the target within a few cm over a 10 m traverse. Each VTT update takes 1/2 to 1 minute on the rovers, 2-3 times faster than one Visual Odometry (Visodom) update. VTT is a key element to achieve a target approach and instrument placement over a 10-m run in a single sol in contrast to the original baseline of 3 sols. VTT has been integrated into the MER FSW so that it can operate with any combination of blind driving, Autonomous Navigation (Autonav) with hazard avoidance, and Visodom. VTT can either guide the rover towards the target or simply image the target as the rover drives by. Three recent VTT operational checkouts on Opportunity were all successful, tracking the selected target reliably within a few pixels.

Curiosity Rover's First Anniversary

NASA Image and Video Library

2013-08-06

NASA Administrator Charles Bolden speaks at a public event at NASA Headquarters observing the first anniversary of the Curiosity rover's landing on Mars, Tuesday, August 6th, 2013 in Washington. The Mars Science Laboratory mission successfully placed the one-ton Curiosity rover on the surface of Mars on Aug. 6, 2012, about 1 mile from the center of its 12-mile-long target area. Within the first eight months of a planned 23-months primary mission, Curiosity met its major science objective of finding evidence of a past environment well-suited to support microbial life. Photo Credit: (NASA/Carla Cioffi)

Elements of ESA's policy on space and security

NASA Astrophysics Data System (ADS)

Giannopapa, Christina; Adriaensen, Maarten; Antoni, Ntorina; Schrogl, Kai-Uwe

2018-06-01

In the past decade Europe has been facing rising security threats, ranging from climate change, migrations, nearby conflicts and crises, to terrorism. The demand to tackle these critical challenges is increasing in Member States. Space is already contributing, and could further contribute with already existing systems and future ones. The increasing need for security in Europe and for safety and security of Europe's space activities has led to a growing number of activities in ESA in various domains. It has also driven new and strengthened partnerships with security stakeholders in Europe. At the European level, ESA is collaborating closely with the main European institutions dealing with space security. In addition, as an organisation ESA has evolved to conduct security-related projects and programmes and to address the threats to its own activities, thereby securing the investments of the Member States. Over the past years the Agency has set up a comprehensive regulatory framework in order to be able to cope with security related requirements. Over the past years, ESA has increased its exchanges with its Member States. The paper presents main elements of the ESA's policy on space and security. It introduces the current European context for space and security, the European goals in this domain and the specific objectives to which the Agency intends to contribute. Space and security in the ESA context is set out under two components: a) security from space and b) security in space, including the security of ESA's own activities (corporate security and the security of ESA's space missions). Subsequently, ESA's activities are elaborated around these two pillars, composed of different activities conducted in the most appropriate frameworks and in coordination with the relevant stakeholders and shareholders.

State Identification for Planetary Rovers: Learning and Recognition

NASA Technical Reports Server (NTRS)

Aycard, Olivier; Washington, Richard

1999-01-01

A planetary rover must be able to identify states where it should stop or change its plan. With limited and infrequent communication from ground, the rover must recognize states accurately. However, the sensor data is inherently noisy, so identifying the temporal patterns of data that correspond to interesting or important states becomes a complex problem. In this paper, we present an approach to state identification using second-order Hidden Markov Models. Models are trained automatically on a set of labeled training data; the rover uses those models to identify its state from the observed data. The approach is demonstrated on data from a planetary rover platform.

Onboard planning for geological investigations using a rover team

NASA Technical Reports Server (NTRS)

Estlin, Tara; Gaines, Daniel; Fisher, Forest; Castano, Rebecca

2004-01-01

This paper describes an integrated system for coordinating multiple rover behavior with the overall goal of collecting planetary surface data. The Multi-Rover Integrated Science Understanding System (MISUS) combines techniques from planning and scheduling with machine learning to perform autonomous scientific exploration with cooperating rovers.

ROVER: A prototype active vision system

NASA Astrophysics Data System (ADS)

Coombs, David J.; Marsh, Brian D.

1987-08-01

The Roving Eyes project is an experiment in active vision. We present the design and implementation of a prototype that tracks colored balls in images from an on-line charge coupled device (CCD) camera. Rover is designed to keep up with its rapidly changing environment by handling best and average case conditions and ignoring the worst case. This allows Rover's techniques to be less sophisticated and consequently faster. Each of Rover's major functional units is relatively isolated from the others, and an executive which knows all the functional units directs the computation by deciding which jobs would be most effective to run. This organization is realized with a priority queue of jobs and their arguments. Rover's structure not only allows it to adapt its strategy to the environment, but also makes the system extensible. A capability can be added to the system by adding a functional module with a well defined interface and by modifying the executive to make use of the new module. The current implementation is discussed in the appendices.

The ESA Initiatives towards European Technical Universities

NASA Astrophysics Data System (ADS)

Messina, P.

2002-01-01

Education is one of the ESA mandatory activities and a renewed commitment has been shown by the reinforcement of the ESA Education Office and by the launching new initiatives in addition to those already in place. The new structure of the Office includes, next to units dealing with primary and secondary schools and with other Educational projects, a service dedicated to, among other things, foster the relations with European Universities and their students. In line with the overall objectives and strategy of Education policy at ESA, the fostering of co- operation between ESA and European Universities is aimed at creating a coherent and effective framework for the two parties to mutually benefit from an enhanced collaboration. ESA has a long and successful tradition of working together Academia, especially in the field of research and development. This new initiative wants to leverage on the past and present collaboration and reinforce the links from an educational point of view. The paper will give on overview how these links are being created, the impact on the ESA offer in terms of traineeship and opportunities for young people and will draw the first conclusions from the initial experiences gathered. Also it will address the impact of the on-going europeanisation process of higher education on the relations with European Universities and on the ESA programmes offered to them. Examples of on-going co-operation will be given (e.g. Aurora Programme) with an analysis of the lesson learned. The wider European context and how ESA's efforts contribute to the creation of a European Research Area (ERA) and to the achievement of the objectives set forth by the Lisbon summit will also be touched upon. The conclusions will address the next steps in this initiative and the feedback from the various partners and how this is being taken into account to steer the it to respond to the real needs of higher education.

The Mars Exploration Rover/Collaborative Information Portal

NASA Technical Reports Server (NTRS)

Walton, Joan; Filman, Robert E.; Schreiner, John; Koga, Dennis (Technical Monitor)

2002-01-01

Astrology has long argued that the alignment of the planets governs human affairs. Science usually scoffs at this. There is, however, an important exception: sending spacecraft for planetary exploration. In late May and early June, 2003, Mars will be in position for Earth launch. Two Mars Exploration Rovers (MER) will rocket towards the red planet. The rovers will perform a series of geological and meteorological experiments, seeking to examine geological evidence for water and conditions once favorable for life. Back on earth, a small army of surface operations staff will work to keep the rovers running, sending directions for each day's operations and receiving the files encoding the outputs of the Rover's six instruments. (Mars is twenty light minutes from Earth. The rovers must be robots.) The fundamental purpose of the project is, after all, Science. Scientists have experiments they want to run. Ideally, scientists want to be immediately notified when the data products of their experiments have been received, so that they can examine their data and (collaboratively) deduce results. Mars is an unpredictable environment. We may issue commands to the rovers but there is considerable uncertainty in how the commands will be executed and whether what the rovers sense will be worthy of further pursuit. The steps of what is, to a scientist, conceptually an individual experiment may be scattered over a large number of activities. While the scientific staff has an overall strategic idea of what it would like to accomplish, activities are planned daily. The data and surprises of the previous day need to be integrated into the negotiations for the next day's activities, all synchronized to a schedule of transmission windows . Negotiations is the operative term, as different scientists want the resources to run possibly incompatible experiments. Many meetings plan each day's activities.

CRAFT: Collaborative Rover and Astronauts Future Technology

NASA Astrophysics Data System (ADS)

Da-Poian, V. D. P.; Koryanov, V. V. K.

2018-02-01

Our project is focusing on the relationship between astronauts and rovers to best work together during surface explorations. Robots will help and assist astronauts, and will also work autonomously. Our project is to develop this type of rover.

Bright Days Ahead for Curiosity Mars Rover

NASA Image and Video Library

2011-03-18

This image shows preparation for March 2011 testing of the Mars Science Laboratory rover, Curiosity, in a space-simulation chamber; the rover will go through operational sequences in environmental conditions similar to what it will experience on Mars.

Supporting Increased Autonomy for a Mars Rover

NASA Technical Reports Server (NTRS)

Estlin, Tara; Castano, Rebecca; Gaines, Dan; Bornstein, Ben; Judd, Michele; Anderson, Robert C.; Nesnas, Issa

2008-01-01

This paper presents an architecture and a set of technology for performing autonomous science and commanding for a planetary rover. The MER rovers have outperformed all expectations by lasting over 1100 sols (or Martian days), which is an order of magnitude longer than their original mission goal. The longevity of these vehicles will have significant effects on future mission goals, such as objectives for the Mars Science Laboratory rover mission (scheduled to fly in 2009) and the Astrobiology Field Lab rover mission (scheduled to potentially fly in 2016). Common objectives for future rover missions to Mars include the handling of opportunistic science, long-range or multi-sol driving, and onboard fault diagnosis and recovery. To handle these goals, a number of new technologies have been developed and integrated as part of the CLARAty architecture. CLARAty is a unified and reusable robotic architecture that was designed to simplify the integration, testing and maturation of robotic technologies for future missions. This paper focuses on technology comprising the CLARAty Decision Layer, which was designed to support and validate high-level autonomy technologies, such as automated planning and scheduling and onboard data analysis.

A View From Below the Rover Deck

NASA Image and Video Library

2012-08-17

The Curiosity engineering team created this cylindrical projection view from images taken by NASA Curiosity rover rear hazard avoidance cameras underneath the rover deck on Sol 0. Pictured here are the pigeon-toed wheels in their stowed position from

Mars Exploration Rover Surface Operations

NASA Astrophysics Data System (ADS)

Erickson, J. K.; Adler, M.; Crisp, J.; Mishkin, A.; Welch, R.

2002-01-01

The Mars Exploration Rover Project is an ambitious mission to land two highly capable rovers on Mars and concurrently explore the Martian surface for three months each. Launching in 2003, surface operations will commence on January 4, 2004 with the first landing, followed by the second landing on January 25. The prime mission for the second rover will end on April 27, 2004. The science objectives of exploring multiple locations within each of two widely separated and scientifically distinct landing sites will be accomplished along with the demonstration of key surface exploration technologies for future missions. This paper will provide an overview of the planned mission, and also focus on the different operations challenges inherent in operating these two very off road vehicles, and the solutions adopted to enable the best utilization of their capabilities for high science return and responsiveness to scientific discovery.

Prospecting Rovers for Lunar Exploration

NASA Technical Reports Server (NTRS)

Graham, Jerry B.; Vaughn, Jason A.; Farmer, Jeffery T.

2007-01-01

A study of lunar rover options for exploring the permanently shadowed regions of the lunar environment is presented. The potential for nearly continuous solar illumination coupled with the potential for water ice, focus exploration planner's attention on the polar regions of the moon. These regions feature craters that scientists have reason to believe may contain water ice. Water ice can be easily converted to fuel cell reactants, breathing oxygen, potable water, and rocket propellant. For these reasons, the NASA Robotic Lunar Exploration Program (RLEP) sponsored a study of potential prospecting rover concepts as one part of the RLEP-2 Pre-Phase A. Numerous vehicle configurations and power, thermal, and communication options are investigated. Rover options in the 400kg to 530kg class are developed which are capable of either confirming the presence of water ice at the poles, or conclusively demonstrating its absence.

Automated Planning and Scheduling for Planetary Rover Distributed Operations

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Rabideau, Gregg; Tso, Kam S.; Chien, Steve

1999-01-01

Automated planning and Scheduling, including automated path planning, has been integrated with an Internet-based distributed operations system for planetary rover operations. The resulting prototype system enables faster generation of valid rover command sequences by a distributed planetary rover operations team. The Web Interface for Telescience (WITS) provides Internet-based distributed collaboration, the Automated Scheduling and Planning Environment (ASPEN) provides automated planning and scheduling, and an automated path planner provided path planning. The system was demonstrated on the Rocky 7 research rover at JPL.

Lunar rovers and local positioning system

NASA Astrophysics Data System (ADS)

Avery, James; Su, Renjeng

1991-11-01

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In

Lunar rovers and local positioning system

NASA Technical Reports Server (NTRS)

Avery, James; Su, Renjeng

1991-01-01

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In

A Wind-powered Rover for a Low-Cost Venus Mission

NASA Technical Reports Server (NTRS)

Benigno, Gina; Hoza, Kathleen; Motiwala, Samira; Landis, Geoffrey A.; Colozza, Anthony J.

2013-01-01

Venus, with a surface temperature of 450 C and an atmospheric pressure 90 times higher than that of the Earth, is a difficult target for exploration. However, high-temperature electronics and power systems now being developed make it possible that future missions may be able to operate in the Venus environment. Powering such a rover within the scope of a Discovery class mission will be difficult, but harnessing Venus' surface winds provides a possible way to keep a powered rover small and light. This project scopes out the feasibility of a wind-powered rover for Venus surface missions. Two rover concepts, a land-sailing rover and a wind-turbine-powered rover, were considered. The turbine-powered rover design is selected as being a low-risk and low-cost strategy. Turbine detailed analysis and design shows that the turbine can meet mission requirements across the desired range of wind speeds by utilizing three constant voltage generators at fixed gear ratios.

ESA's Integral satellite ready for lift-off from Baikonur

NASA Astrophysics Data System (ADS)

2002-10-01

ESA's INTEGRAL (International Gamma Ray Astrophysics Laboratory) satellite, will be launched by a Proton launcher from Baikonur, Kazakhstan on 17 October at 06:41 CEST (Central European Summer Time). The most sensitive gamma-ray observatory ever launched, INTEGRAL is a truly international mission involving all ESA member states plus the USA and Russia. It carries four instruments from teams led by scientists in Italy, France, Germany, Denmark and Spain to gather and analyse gamma-rays, X-rays and visible light from celestial objects. INTEGRAL will give astronomers across the world their clearest views yet of the most extreme environments in the Universe. It will detect radiation from the most violent events far away and from processes that made the Universe inhabitable. Media representatives in Europe can follow the videotransmission of the launch at ESA/Darmstadt (ESOC) in Germany, which will be acting as the main European press centre, ESA/Noordwijk (ESTEC) in the Netherlands, ESA/Frascati (ESRIN) in Italy or ESA/Villafranca (VILSPA) in Spain. At each site ESA specialists will be available for interviews. Media representatives wishing to attend are requested to complete the attached reply form and fax it to the Communication Office at the establishment of their choice. The ESA TV Service will provide video news releases and live coverage of the launch between 06:15-07:00 and 08:00-08:30 CEST. Details of the transmission schedule for the various Video News Releases can be found on http://television.esa.int The launch can also be followed live on the internet at www.esa.int/integrallaunch starting at 06:15 hrs.

Decision-Theoretic Control of Planetary Rovers

NASA Technical Reports Server (NTRS)

Zilberstein, Shlomo; Washington, Richard; Bernstein, Daniel S.; Mouaddib, Abdel-Illah; Morris, Robert (Technical Monitor)

2003-01-01

Planetary rovers are small unmanned vehicles equipped with cameras and a variety of sensors used for scientific experiments. They must operate under tight constraints over such resources as operation time, power, storage capacity, and communication bandwidth. Moreover, the limited computational resources of the rover limit the complexity of on-line planning and scheduling. We describe two decision-theoretic approaches to maximize the productivity of planetary rovers: one based on adaptive planning and the other on hierarchical reinforcement learning. Both approaches map the problem into a Markov decision problem and attempt to solve a large part of the problem off-line, exploiting the structure of the plan and independence between plan components. We examine the advantages and limitations of these techniques and their scalability.

Curiosity Rover's First Anniversary

NASA Image and Video Library

2013-08-06

Prasun Desai, acting director, Strategic Integration, NASA's Space Technology Mission Directorate, speaks at a public event at NASA Headquarters observing the first anniversary of the Curiosity rover's landing on Mars, Tuesday, August 6th, 2013 in Washington. The Mars Science Laboratory mission successfully placed the one-ton Curiosity rover on the surface of Mars on Aug. 6, 2012, about 1 mile from the center of its 12-mile-long target area. Within the first eight months of a planned 23-months primary mission, Curiosity met its major science objective of finding evidence of a past environment well-suited to support microbial life. Photo Credit: (NASA/Carla Cioffi)

Curiosity Rover's First Anniversary

NASA Image and Video Library

2013-08-06

Jim Green, director, Planetary Division, NASA's Science Mission Directorate, speaks at a public event at NASA Headquarters observing the first anniversary of the Curiosity rover's landing on Mars, Tuesday, August 6th, 2013 in Washington. The Mars Science Laboratory mission successfully placed the one-ton Curiosity rover on the surface of Mars on Aug. 6, 2012, about 1 mile from the center of its 12-mile-long target area. Within the first eight months of a planned 23-months primary mission, Curiosity met its major science objective of finding evidence of a past environment well-suited to support microbial life. Photo Credit: (NASA/Carla Cioffi)

Curiosity Rover's First Anniversary

NASA Image and Video Library

2013-08-06

Jim Green, director, Planetary Division, NASA's Science Mission Directorate, answers a question at a public event at NASA Headquarters observing the first anniversary of the Curiosity rover's landing on Mars, Tuesday, August 6th, 2013 in Washington. The Mars Science Laboratory mission successfully placed the one-ton Curiosity rover on the surface of Mars on Aug. 6, 2012, about 1 mile from the center of its 12-mile-long target area. Within the first eight months of a planned 23-months primary mission, Curiosity met its major science objective of finding evidence of a past environment well-suited to support microbial life. Photo Credit: (NASA/Carla Cioffi)

Curiosity Rover's First Anniversary

NASA Image and Video Library

2013-08-06

Sam Scimemi, director, NASA's International Space Station Program, speaks at a public event at NASA Headquarters observing the first anniversary of the Curiosity rover's landing on Mars, Tuesday, August 6th, 2013 in Washington. The Mars Science Laboratory mission successfully placed the one-ton Curiosity rover on the surface of Mars on Aug. 6, 2012, about 1 mile from the center of its 12-mile-long target area. Within the first eight months of a planned 23-months primary mission, Curiosity met its major science objective of finding evidence of a past environment well-suited to support microbial life. Photo Credit: (NASA/Carla Cioffi)

Ulysses - An ESA/NASA cooperative programme

NASA Technical Reports Server (NTRS)

Meeks, W.; Eaton, D.

1990-01-01

Cooperation between ESA and NASA is discussed, noting that the Memorandum of Understanding lays the framework for this relationship, defining the responsibilities of ESA and NASA and providing for appointment of leadership and managers for the project. Members of NASA's Jet Propulsion Laboratory and ESA's ESTEC staff have been appointed to leadership positions within the project and ultimate control of the project rests with the Joint Working Group consisting of two project managers and two project scientists, equally representing both organizations. Coordination of time scales and overall mission design is discussed, including launch cooperation, public relations, and funding of scientific investigations such as Ulysses. Practical difficulties of managing an international project are discussed such as differing documentation requirements and communication techniques, and assurance of equality on projects.

Mixed-Initiative Activity Planning for Mars Rovers

NASA Technical Reports Server (NTRS)

Bresina, John; Jonsson, Ari; Morris, Paul; Rajan, Kanna

2005-01-01

One of the ground tools used to operate the Mars Exploration Rovers is a mixed-initiative planning system called MAPGEN. The role of the system is to assist operators building daily plans for each of the rovers, maximizing science return, while maintaining rover safety and abiding by science and engineering constraints. In this paper, we describe the MAPGEN system, focusing on the mixed-initiative planning aspect. We note important challenges, both in terms of human interaction and in terms of automated reasoning requirements. We then describe the approaches taken in MAPGEN, focusing on the novel methods developed by our team.

Using Multi-Core Systems for Rover Autonomy

NASA Technical Reports Server (NTRS)

Clement, Brad; Estlin, Tara; Bornstein, Benjamin; Springer, Paul; Anderson, Robert C.

2010-01-01

Task Objectives are: (1) Develop and demonstrate key capabilities for rover long-range science operations using multi-core computing, (a) Adapt three rover technologies to execute on SOA multi-core processor (b) Illustrate performance improvements achieved (c) Demonstrate adapted capabilities with rover hardware, (2) Targeting three high-level autonomy technologies (a) Two for onboard data analysis (b) One for onboard command sequencing/planning, (3) Technologies identified as enabling for future missions, (4)Benefits will be measured along several metrics: (a) Execution time / Power requirements (b) Number of data products processed per unit time (c) Solution quality

Where Boron? Mars Rover Detects It

NASA Image and Video Library

2016-12-13

This map shows the route driven by NASA's Curiosity Mars rover (blue line) and locations where the rover's Chemistry and Camera (ChemCam) instrument detected the element boron (dots, colored by abundance of boron according to the key at right). The main map shows the traverse from landing day (Sol 0) in August 2012 to the rover's location in September 2016, with boron detections through September 2015. The inset at upper left shows a magnified version of the most recent portion of that traverse, with boron detections during that portion. Overlapping dots represent cases when boron was detected in multiple ChemCam observation points in the same target and non-overlapping dots represent cases where two different targets in the same location have boron. Most of the mission's detections of boron have been made in the most recent seven months (about 200 sols) of the rover's uphill traverse. The base image for the map is from the High Resolution Imaging Science Experiment (HiRISE) camera on NASA's Mars Reconnaissance Orbiter. North is up. The scale bar at lower right represents one kilometer (0.62 mile). http://photojournal.jpl.nasa.gov/catalog/PIA21150

ExoMars 2016 Trace Gas Orbiter and Mars Express Coordinated Science Operations Planning

NASA Astrophysics Data System (ADS)

Cardesin Moinelo, Alejandro; Geiger, Bernhard; Costa, Marc; Breitfellner, Michel; Castillo, Manuel; Marin Yaseli de la Parra, Julia; Martin, Patrick; Merritt, Donald R.; Grotheer, Emmanuel; Aberasturi Vega, Miriam; Ashman, Mike; Frew, David; Garcia Beteta, Juan Jose; Metcalfe, Leo; Muñoz, Claudio; Muñoz, Michela; Titov, Dimitri; Svedhem, Hakan

2018-05-01

In this contribution we focus on the science opportunity analysis between the Mars Express and the ExoMars 2016 Trace Gas Orbiter missions and the observations that can be combined to improve the scientific outcome of both missions. In particular we will describe the long term analysis of geometrical conditions that allow for coordinated science observations for solar occultation and nadir pointing. We will provide details on the calculations and results for simultaneous and quasi-simultaneous opportunities, taking into account the observation requirements of the instruments and the operational requirements for feasibility checks.

NASA Mars 2020 Rover Mission: New Frontiers in Science

NASA Technical Reports Server (NTRS)

Calle, Carlos I.

2014-01-01

The Mars 2020 rover mission is the next step in NASAs robotic exploration of the red planet. The rover, based on the Mars Science Laboratory Curiosity rover now on Mars, will address key questions about the potential for life on Mars. The mission would also provide opportunities to gather knowledge and demonstrate technologies that address the challenges of future human expeditions to Mars.Like the Mars Science Laboratory rover, which has been exploring Mars since 2012, the Mars 2020 spacecraft will use a guided entry, descent, and landing system which includes a parachute, descent vehicle, and, during the provides the ability to land a very large, heavy rover on the surface of Mars in a more precise landing area. The Mars 2020 mission is designed to accomplish several high-priority planetary science goals and will be an important step toward meeting NASAs challenge to send humans to Mars in the 2030s. The mission will conduct geological assessments of the rover's landing site, determine the habitability of the environment, search for signs of ancient Martian life, and assess natural resources and hazards for future human explorers. The science instruments aboard the rover also will enable scientists to identify and select a collection of rock and soil samples that will be stored for potential return to Earth in the future. The rover also may help designers of a human expedition understand the hazards posed by Martian dust and demonstrate how to collect carbon dioxide from the atmosphere, which could be a valuable resource for producing oxygen and rocket fuel.

Design of a Day/Night Lunar Rover

NASA Astrophysics Data System (ADS)

Berkelman, Peter; Easudes, Jesse; Martin, Martin C.; Rollins, Eric; Silberman, Jack; Chen, Mei; Hancock, John; Mor, Andrew B.; Sharf, Alex; Warren, Tom; Bapna, Deepak

1995-06-01

The pair of lunar rovers discussed in this report will return video and state data to various ventures, including theme park and marketing concerns, science agencies, and educational institutions. The greatest challenge accepted by the design team was to enable operations throughout the extremely cold and dark lunar night, an unprecedented goal in planetary exploration. This is achieved through the use of the emerging technology of Alkali Metal Thermal to Electric Converters (AMTEC), provided with heat from a innovative beta-decay heat source, Krypton-85 gas. Although previous space missions have returned still images, our design will convey panoramic video from a ring of cameras around the rover. A six-wheel rocker bogie mechanism is implemented to propel the rover. The rovers will also provide the ability to safeguard their operation to allow untrained members of the general public to drive the vehicle. Additionally, scientific exploration and educational outreach will be supported with a user operable, steerable and zoomable camera.

Sojourner Rover View of Pathfinder Lander

NASA Technical Reports Server (NTRS)

1997-01-01

Image of Pathfinder Lander on Mars taken from Sojourner Rover left front camera on sol 33. The IMP (on the lattice mast) is looking at the rover. Airbags are prominent, and the meteorology mast is shown to the right. Lowermost rock is Ender, with Hassock behind it and Yogi on the other side of the lander.

NOTE: original caption as published in Science Magazine

ESA innovation rescues Ultraviolet Observatory

NASA Astrophysics Data System (ADS)

1995-10-01

Astrophysicist Freeman J. Dyson from the Institute for Advanced Studies in Princeton characterizes IUE as "A little half-meter mirror sitting in the sky, unnoticed by the public, pouring out results". By use of the IUE satellite, astronomers obtain access to the ultraviolet radiation of celestial bodies in unique ways not available by any other means, neither from the ground nor by any other spacecraft currently in orbit. IUE serves a wide community of astronomers all over Europe, the United States and many other parts of the world. It allows the acquisition of critical data for fundamental studies of comets and their evaporation when they approach the Sun, of the mechanisms driving the stellar winds which make many stars lose a significant fraction of their mass (before they die slowly as White Dwarfs or in sudden Supernova explosions), as well as in the search to understand the ways in which black holes possibly power the violent nuclei of Active galaxies. One year ago the project was threatened with termination and serious concern was expressed by astronomers about the potential loss of IUE's capabilities, as a result of NASA not continuing to operate the spacecraft. Under the leadership of ESA, the three Agencies involved in the operations of IUE (ESA, NASA and the United Kingdom's Particle Physics and Astronomy Research Council, PPARC), reviewed the operations agreements of the Project. A minor investment allowing the implementation of modern management and engineering techniques as well as a complete revision of the communication infrastructure of the project and continuous improvements in efficiency in the ESA management, also taking advantage of today's technologies, both in computing and communications, have made it possible to continue IUE operations within the financial means available, with ESA taking up most of NASA's share in the operations. According to Dr. Willem Wamsteker, ESA's Dutch IUE Project Scientist, "it was a extremely interesting

The Mars Surveyor '01 Rover and Robotic Arm

NASA Technical Reports Server (NTRS)

Bonitz, Robert G.; Nguyen, Tam T.; Kim, Won S.

1999-01-01

The Mars Surveyor 2001 Lander will carry with it both a Robotic Arm and Rover to support various science and technology experiments. The Marie Curie Rover, the twin sister to Sojourner Truth, is expected to explore the surface of Mars in early 2002. Scientific investigations to determine the elemental composition of surface rocks and soil using the Alpha Proton X-Ray Spectrometer (APXS) will be conducted along with several technology experiments including the Mars Experiment on Electrostatic Charging (MEEC) and the Wheel Abrasion Experiment (WAE). The Rover will follow uplinked operational sequences each day, but will be capable of autonomous reactions to the unpredictable features of the Martian environment. The Mars Surveyor 2001 Robotic Arm will perform rover deployment, and support various positioning, digging, and sample acquiring functions for MECA (Mars Environmental Compatibility Assessment) and Mossbauer Spectrometer experiments. The Robotic Arm will also collect its own sensor data for engineering data analysis. The Robotic Arm Camera (RAC) mounted on the forearm of the Robotic Arm will capture various images with a wide range of focal length adjustment during scientific experiments and rover deployment

Path planning and execution monitoring for a planetary rover

NASA Technical Reports Server (NTRS)

Gat, Erann; Slack, Marc G.; Miller, David P.; Firby, R. James

1990-01-01

A path planner and an execution monitoring planner that will enable the rover to navigate to its various destinations safely and correctly while detecting and avoiding hazards are described. An overview of the complete architecture is given. Implementation and testbeds are described. The robot can detect unforseen obstacles and take appropriate action. This includes having the rover back away from the hazard and mark the area as untraversable in the in the rover's internal map. The experiments have consisted of paths roughly 20 m in length. The architecture works with a large variety of rover configurations with different kinematic constraints.

Autonomous localisation of rovers for future planetary exploration

NASA Astrophysics Data System (ADS)

Bajpai, Abhinav

Future Mars exploration missions will have increasingly ambitious goals compared to current rover and lander missions. There will be a need for extremely long distance traverses over shorter periods of time. This will allow more varied and complex scientific tasks to be performed and increase the overall value of the missions. The missions may also include a sample return component, where items collected on the surface will be returned to a cache in order to be returned to Earth, for further study. In order to make these missions feasible, future rover platforms will require increased levels of autonomy, allowing them to operate without heavy reliance on a terrestrial ground station. Being able to autonomously localise the rover is an important element in increasing the rover's capability to independently explore. This thesis develops a Planetary Monocular Simultaneous Localisation And Mapping (PM-SLAM) system aimed specifically at a planetary exploration context. The system uses a novel modular feature detection and tracking algorithm called hybrid-saliency in order to achieve robust tracking, while maintaining low computational complexity in the SLAM filter. The hybrid saliency technique uses a combination of cognitive inspired saliency features with point-based feature descriptors as input to the SLAM filter. The system was tested on simulated datasets generated using the Planetary, Asteroid and Natural scene Generation Utility (PANGU) as well as two real world datasets which closely approximated images from a planetary environment. The system was shown to provide a higher accuracy of localisation estimate than a state-of-the-art VO system tested on the same data set. In order to be able to localise the rover absolutely, further techniques are investigated which attempt to determine the rover's position in orbital maps. Orbiter Mask Matching uses point-based features detected by the rover to associate descriptors with large features extracted from orbital

Curiosity Rover's First Anniversary

NASA Image and Video Library

2013-08-06

Jason Townsend, NASA's Deputy Social Media Manager, asks a question on behalf of a NASA Twitter follower at a public event at NASA Headquarters observing the first anniversary of the Curiosity rover's landing on Mars, Tuesday, August 6th, 2013 in Washington. The Mars Science Laboratory mission successfully placed the one-ton Curiosity rover on the surface of Mars on Aug. 6, 2012, about 1 mile from the center of its 12-mile-long target area. Within the first eight months of a planned 23-months primary mission, Curiosity met its major science objective of finding evidence of a past environment well-suited to support microbial life. Photo Credit: (NASA/Carla Cioffi)

ESA's space science programme

NASA Astrophysics Data System (ADS)

Volonte, S.

2018-04-01

The Space Science Programme of ESA encompasses three broad areas of investigation, namely solar system science (the Sun, the planets and space plasmas), fundamental physics and space astronomy and astrophysics.

NASA Mars Science Laboratory Rover

NASA Technical Reports Server (NTRS)

Olson, Tim

2017-01-01

Since August 2012, the NASA Mars Science Laboratory (MSL) rover Curiosity has been operating on the Martian surface. The primary goal of the MSL mission is to assess whether Mars ever had an environment suitable for life. MSL Science Team member Dr. Tim Olson will provide an overview of the rover's capabilities and the major findings from the mission so far. He will also share some of his experiences of what it is like to operate Curiosity's science cameras and explore Mars as part of a large team of scientists and engineers.

Computational and theoretical investigation of Mars's atmospheric impact on the descent module "Exomars-2018" under aerodynamic deceleration

NASA Astrophysics Data System (ADS)

Golomazov, M. M.; Ivankov, A. A.

2016-12-01

Methods for calculating the aerodynamic impact of the Martian atmosphere on the descent module "Exomars-2018" intended for solving the problem of heat protection of the descent module during aerodynamic deceleration are presented. The results of the investigation are also given. The flow field and radiative and convective heat exchange are calculated along the trajectory of the descent module until parachute system activation.

Recent Accomplishments in Mars Exploration: The Rover Perspective

NASA Astrophysics Data System (ADS)

McLennan, S. M.; McSween, H. Y.

2018-04-01

Mobile rovers have revolutionized our understanding of Mars geology by identifying habitable environments and addressing critical questions related to Mars science. Both the advances and limitations of rovers set the scene for Mars Sample Return.

Planetary surface exploration: MESUR/autonomous lunar rover

NASA Astrophysics Data System (ADS)

Stauffer, Larry; Dilorenzo, Matt; Austin, Dave; Ayers, Raymond; Burton, David; Gaylord, Joe; Kennedy, Jim; Lentz, Dale; Laux, Richard; Nance, Preston

1992-06-01

Planetary surface exploration micro-rovers for collecting data about the Moon and Mars was designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA-Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental SURvey (MESUR) Alpha Particle/Proton/X-ray instruments (APX). The system is to be launched with the sixteen MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker was developed to deploy the APX from the lander to the Martian surface. While on Mars the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar-terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation which NASA can use for future lunar exploratory missions. A detailed description of the designs, methods, and procedures which the University of Idaho design teams followed to arrive at the final designs are included.

Curiosity rover LEGO® version could land soon

NASA Astrophysics Data System (ADS)

Showstack, Randy

2012-09-01

Now that NASA's Curiosity rover has landed on Mars, a smaller LEGO® plastic brick construction version could be landing in toy stores. Less than 2 weeks after Curiosity set down on 5 August, a LEGO® set concept model designed by a mechanical and aerospace engineer who worked on the real rover garnered its 10,000th supporter on the Web site of CUUSOO, a Japanese partner of the LEGO® group. That milestone triggered a company review that began in September 2012 to test the model's “playability, safety, and ft with the LEGO® brand,” according to a congratulatory statement from the company to designer Stephen Pakbaz. Pakbaz told Eos that he has been an avid LEGO® and space exploration fan for most of his life. “For me, creating a LEGO® model of Curiosity using my firsthand knowledge of the rover was inevitable. What I enjoyed most was being able to faithfully replicate and subsequently demonstrate the rocker-bogie suspension system to friends, family, and coworkers,” he noted, referring to the suspension system that allows the rover to climb over obstacles while keeping its wheels on the ground. Pakbaz, who is currently with Orbital Sciences Corporation, was involved with aspects of the rover while working at the Jet Propulsion Laboratory from 2007 to 2011 as a mechanical engineer.

Planetary surface exploration: MESUR/autonomous lunar rover

NASA Technical Reports Server (NTRS)

Stauffer, Larry; Dilorenzo, Matt; Austin, Dave; Ayers, Raymond; Burton, David; Gaylord, Joe; Kennedy, Jim; Lentz, Dale; Laux, Richard; Nance, Preston

1992-01-01

Planetary surface exploration micro-rovers for collecting data about the Moon and Mars was designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA-Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental SURvey (MESUR) Alpha Particle/Proton/X-ray instruments (APX). The system is to be launched with the sixteen MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker was developed to deploy the APX from the lander to the Martian surface. While on Mars the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar-terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation which NASA can use for future lunar exploratory missions. A detailed description of the designs, methods, and procedures which the University of Idaho design teams followed to arrive at the final designs are included.

Delta II Heavy launch of "Opportunity" MER-B Rover

NASA Image and Video Library

2003-07-07

On Launch Complex 17-B, Cape Canaveral Air Force Station, the Delta II Heavy launch vehicle carrying the rover "Opportunity" for the second Mars Exploration Rover mission launches at 11:18:15 p.m. EDT. Opportunity will reach Mars on Jan. 25, 2004. Together the two MER rovers, Spirit (launched June 10) and Opportunity, seek to determine the history of climate and water at two sites on Mars where conditions may once have been favorable to life. The rovers are identical. They will navigate themselves around obstacles as they drive across the Martian surface, traveling up to about 130 feet each Martian day. Each rover carries five scientific instruments including a panoramic camera and microscope, plus a rock abrasion tool that will grind away the outer surfaces of rocks to expose their interiors for examination. Each rover’s prime mission is planned to last three months on Mars.

Cumberland Target for Drilling by Curiosity Mars Rover

NASA Image and Video Library

2013-05-09

Cumberland has been selected as the second target for drilling by NASA Mars rover Curiosity. The rover has the capability to collect powdered material from inside the target rock and analyze that powder with laboratory instruments.

The ESA Scientific Exploitation of Operational Missions element

NASA Astrophysics Data System (ADS)

Desnos, Yves-Louis; Regner, Peter; Zehner, Claus; Engdahl, Marcus; Benveniste, Jerome; Delwart, Steven; Gascon, Ferran; Mathieu, Pierre-Philippe; Bojkov, Bojan; Koetz, Benjamin; Arino, Olivier; Donlon, Craig; Davidson, Malcolm; Goryl, Philippe; Foumelis, Michael

2014-05-01

The objectives of the ESA Scientific Exploitation of Operational Missions (SEOM) programme element are • to federate, support and expand the research community • to strengthen the leadership of European EO research community • to enable the science community to address new scientific research As a preparation for the SEOM element a series of international science users consultation has been organized by ESA in 2012 and 2013 In particular the ESA Living Planet Symposium was successfully organized in Edinburgh September 2013 and involving 1700 participants from 60 countries. The science users recommendations have been gathered and form the basis for the 2014 SEOM work plan approved by ESA member states. The SEOM element is organized along the following action lines: 1. Developing open-source, multi-mission, scientific toolboxes : the new toolboxes for Sentinel 1/2/3 and 5P will be introduced 2. Research and development studies: the first SEOM studies are being launched such as the INSARAP studies for Sentinel 1 interferometry in orbit demonstration , the IAS study to generate an improved spectroscopic database of the trace gas species CH4, H2O, and CO in the 2.3 μm region and SO2 in the UV region for Sentinel 5 P. In addition larger Sentinels for science call will be tendered in 2014 covering grouped studies for Sentinel 1 Land , Sentinel 1 Ocean , Sentinel 2 Land, Sentinel 3 SAR Altimetry ,Sentinel 3 Ocean color, Sentinel 3 Land and Sentinels Synergy . 3. Science users consultation : the Sentinel 2 for Science workshop is planned from 20 to 22 may 2014 at ESRIN to prepare for scientific exploitation of the Sentinel-2 mission (http://seom.esa.int/S2forScience2014 ) . In addition the FRINGE workshop focusing on scientific explotation of Sentinel1 using SAR interferometry is planned to be held at ESA ESRIN in Q2 2015 4. Training the next generation of European EO scientists on the scientific exploitation of Sentinels data: the Advanced Training course Land

Packet utilisation definitions for the ESA XMM mission

NASA Technical Reports Server (NTRS)

Nye, H. R.

1994-01-01

XMM, ESA's X-Ray Multi-Mirror satellite, due for launch at the end of 1999 will be the first ESA scientific spacecraft to implement the ESA packet telecommand and telemetry standards and will be the first ESOC-controlled science mission to take advantage of the new flight control system infrastructure development (based on object-oriented design and distributed-system architecture) due for deployment in 1995. The implementation of the packet standards is well defined at packet transport level. However, the standard relevant to the application level (the ESA Packet Utilization Standard) covers a wide range of on-board 'services' applicable in varying degrees to the needs of XMM. In defining which parts of the ESA PUS to implement, the XMM project first considered the mission objectives and the derived operations concept and went on to identify a minimum set of packet definitions compatible with these aspects. This paper sets the scene as above and then describes the services needed for XMM and the telecommand and telemetry packet types necessary to support each service.

An Analog Rover Exploration Mission for Education and Outreach

NASA Astrophysics Data System (ADS)

Moores, John; Campbell, Charissa L.; Smith, Christina L.; Cooper, Brittney A.

2017-10-01

This abstract describes an analog rover exploration mission designed as an outreach program for high school and undergraduate students. This program is used to teach them about basic mission control operations, how to manage a rover as if it were on another planetary body, and employing the rover remotely to complete mission objectives. One iteration of this program has been completed and another is underway. In both trials, participants were shown the different operation processes involved in a real-life mission. Modifications were made to these processes to decrease complexity and better simulate a mission control environment in a short time period (three 20-minute-long mission “days”). In the first run of the program, participants selected a landing site, what instruments would be on the rover - subject to cost, size, and weight limitations - and were randomly assigned one of six different mission operations roles, each with specific responsibilities. For example, a Science Planner/Integrator (SPI) would plan science activities whilst a Rover Engineer (RE) would keep on top of rover constraints. Planning consisted of a series of four meetings to develop and verify the current plan, pre-plan the next day's activities and uplink the activities to the “rover” (a human colleague). Participants were required to attend certain meetings depending upon their assigned role. To conclude the mission, students viewed the site to understand any differences between remote viewing and reality in relation to the rover. Another mission is currently in progress with revisions from the earlier run to improve the experience. This includes broader roles and meetings and pre-selecting the landing site and rover. The new roles are: Mission Lead, Rover Engineer and Science Planner. The SPI role was previously popular so most of the students were placed in this category. The meetings were reduced to three but extended in length. We are also planning to integrate this program

Remote image analysis for Mars Exploration Rover mobility and manipulation operations

NASA Technical Reports Server (NTRS)

Leger, Chris; Deen, Robert G.; Bonitz, Robert G.

2005-01-01

NASA's Mars Exploration Rovers are two sixwheeled, 175-kg robotic vehicles which have operated on Mars for over a year as of March 2005. The rovers are controlled by teams who must understand the rover's surroundings and develop command sequences on a daily basis. The tight tactical planning timeline and everchanging environment call for tools that allow quick assessment of potential manipulator targets and traverse goals, since command sequences must be developed in a matter of hours after receipt of new data from the rovers. Reachability maps give a visual indication of which targets are reachable by each rover's manipulator, while slope and solar energy maps show the rover operator which terrain areas are safe and unsafe from different standpoints.

WISDOM GPR Investigations of Ice Thickness, Stratigraphy, Structure, and Basal Topography in an Alpine Ice Cave in Dachstein, Austria

NASA Astrophysics Data System (ADS)

Clifford, S. M.; Plettemeier, D.; Dorizon, S.; Lustrement, B.; Humeau, O.; Hassen-Khodja, R.; Galic, A.; Ciarletti, V.

2012-12-01

The WISDOM GPR is one of the instruments that have been selected as part of the Pasteur payload of ESA's 2018 ExoMars Rover mission. WISDOM will remotely characterize the shallow subsurface (top ~2-3 m) of Mars, with a vertical resolution of several centimeters, providing information essential to understanding the local geological context and identifying the best locations for obtaining subsurface samples with the Rover's onboard drill. The geoelectrical properties of H2O make WISDOM a particularly powerful tool for investigating the local distribution and state of subsurface H2O, including the potential presence of segregated ground ice and the persistent or transient occurrence of liquid water/brine. WISDOM prototypes, representative of the final flight model, are currently being field tested in various Mars analogue and cold-climate environments. In April of this year, members of the WISDOM team brought two development prototypes to an Alpine ice cave in Dachstein, Austria, to field test the instrument and participate in the Mars Simulation organized by the Austrian Space Forum. 2- and 3-D profiles were obtained of the icy interior of the cave utilizing the radars mounted on three different platforms: a manually operated cart, the radio-controlled 'Magma White' rover (developed and operated by a Polish team from ABM Space Education), and a cliffbot (developed and operated by the French Planète Mars Association). Radar investigations were conducted in four different cave environments, measuring ice thickness, stratigraphy, fracture geometry, and basal topography. Because of variations in fracture width, density and orientation, determining fracture geometry proved to be the most challenging of these four tasks. Radar-derived 2- and 3-D reconstructions of the internal characteristics of the ice deposits and cave floor were in agreement with those determined by direct observation and previously obtained with commercial GPRs.

Lithium-Ion rechargeable batteries on Mars Rover

NASA Technical Reports Server (NTRS)

Ratnakumar, B. V.; Smart, M. C.; Ewell, R. C.; Whitcanack, L. D.; Chin, K. B.; Surampudi, S.

2004-01-01

NASA's Mars Rovers, Spirit and Opportunity, have been roving on the surface of Mars, capturing impressive images of its terrain and analyzing the drillings from Martian rocks, to answer the ever -puzzling questions of life beyond Earth and origin of our planets. These rovers are being enabled by an advanced rechargeable battery system, lithium-ion, for the first time on a space mission of this scale, for keeping the rover electronics warm, and for supporting nighttime experimentation and communications. These rover Li-ion batteries are characterized by their unique low temperature capability, in addition to the usual advantages associated with Li-ion chemistry in terms of mass, volume and energy efficiency. To enable a rapid insertion of this advanced Li-ion chemistry into flight missions, we have performed several performance assessment studies on several prototype cells over the last few years. These tests mainly focused primarily on the long-term performance characteristics, such as cycling and storage, as described in our companion paper. In addition, various tests have been performed on MER cells and engineering and proto flight batteries; under conditions relevant to these missions. For example, we have examined the performance of the cells in: a) an inverted orientation, as during integration and launch, and b) conditions of low rate discharge, between 3.0-2.5 V to support the mission clock. Likewise, we have determined the impedance of the proto-flight Rover battery assembly unit in detail, with a view to asses whether a current-limiting resistor would be unduly stressed, in the event of a shorting induced by a failed pyro. In this paper we will describe these studies in detail, as well as the performance of Li-ion batteries in Spirit and Opportunity rovers, during cruise and on Mars.

Portrait view of ESA Spacelab Specialists

NASA Technical Reports Server (NTRS)

1978-01-01

Portrait view of European Space Agency (ESA) Spacelab Specialist Byron K. Lichtenberg in civilian clothes standing in front of a display case. The photo was taken at the Marshall Space Flight Center (MSFC), Huntsville, Alabama (31779); portrait view of ESA Spacelab Specialist Michael L. Lampton, also in civilian clothes in front of display at MSFC (31780); portrait view of Wubbo Ockels, also in civilian clothes in front of display at MSFC (31781).

Software for Displaying Data from Planetary Rovers

NASA Technical Reports Server (NTRS)

Powell, Mark; Backers, Paul; Norris, Jeffrey; Vona, Marsette; Steinke, Robert

2003-01-01

Science Activity Planner (SAP) DownlinkBrowser is a computer program that assists in the visualization of processed telemetric data [principally images, image cubes (that is, multispectral images), and spectra] that have been transmitted to Earth from exploratory robotic vehicles (rovers) on remote planets. It is undergoing adaptation to (1) the Field Integrated Design and Operations (FIDO) rover (a prototype Mars-exploration rover operated on Earth as a test bed) and (2) the Mars Exploration Rover (MER) mission. This program has evolved from its predecessor - the Web Interface for Telescience (WITS) software - and surpasses WITS in the processing, organization, and plotting of data. SAP DownlinkBrowser creates Extensible Markup Language (XML) files that organize data files, on the basis of content, into a sortable, searchable product database, without the overhead of a relational database. The data-display components of SAP DownlinkBrowser (descriptively named ImageView, 3DView, OrbitalView, PanoramaView, ImageCubeView, and SpectrumView) are designed to run in a memory footprint of at least 256MB on computers that utilize the Windows, Linux, and Solaris operating systems.

Curiosity Mars Rover Drilling Into Its Second Rock

NASA Image and Video Library

2013-06-05

This frame from an animation from NASA Mars rover Curiosity shows the rover drilling into rock target Cumberland. The drilling was performed during the 279th Martian day, or sol, of the Curiosity work on Mars May 19, 2013.

Activity Scratchpad Prototype: Simplifying the Rover Activity Planning Cycle

NASA Technical Reports Server (NTRS)

Abramyan, Lucy

2005-01-01

The Mars Exploration Rover mission depends on the Science Activity Planner as its primary interface to the Spirit and Opportunity Rovers. Scientists alternate between a series of mouse clicks and keyboard inputs to create a set of instructions for the rovers. To accelerate planning by minimizing mouse usage, a rover planning editor should receive the majority of inputted commands from the keyboard. Thorough investigation of the Eclipse platform's Java editor has provided the understanding of the base model for the Activity Scratchpad. Desirable Eclipse features can be mapped to specific rover planning commands, such as auto-completion for activity titles and content assist for target names. A custom editor imitating the Java editor's features was created with an XML parser for experimenting purposes. The prototype editor minimized effort for redundant tasks and significantly improved the visual representation of XML syntax by highlighting keywords, coloring rules, folding projections, and providing hover assist, templates and an outline view of the code.

Mars Weather-Station Tools on Rover Mast

NASA Image and Video Library

2015-04-13

The Rover Environmental Monitoring Station (REMS) on NASA's Curiosity Mars rover includes temperature and humidity sensors mounted on the rover's mast. One of the REMS booms extends to the left from the mast in this view. Spain provided REMS to NASA's Mars Science Laboratory Project. The monitoring station has provided information about air pressure, relative humidity, air temperature, ground temperature, wind and ultraviolet radiation in all Martian seasons and at all times of day or night. This view is a detail from a January 2015 Curiosity self-portrait. The self-portrait, at PIA19142, was assembled from images taken by Curiosity's Mars Hand Lens Imager. http://photojournal.jpl.nasa.gov/catalog/PIA19164

Development of Testing Station for Prototype Rover Thermal Subsystem

NASA Technical Reports Server (NTRS)

Burlingame, Kaitlin

2010-01-01

In order to successfully and efficiently explore the moon or other planets, a vehicle must be built to assist astronauts as they travel across the surface. One concept created to meet this need is NASA's Space Exploration Vehicle (SEV). The SEV, a small pressurized cabin integrated onto a 12-wheeled chassis, can support two astronauts up to 14 days. Engineers are currently developing the second generation of the SEV, with the goal of being faster, more robust, and able to carry a heavier payload. In order to function properly, the rover must dissipate heat produced during operation and maintain an appropriate temperature profile inside the rover. If these activities do not occur, components of the rover will start to break down, eventually leading to the failure of the rover. On the rover, these requirements are the responsibility of the thermal subsystem. My project for the summer was to design and build a testing station to facilitate the design and testing of the new thermal subsystem. As the rover develops, initial low fidelity parts can be interchanged for the high fidelity parts used on the rover. Based on a schematic of the proposed thermal system, I sized and selected parts for each of the components in the thermal subsystem. For the components in the system that produced heat but had not yet been finalized or fabricated, I used power resistors to model their load patterns. I also selected all of the fittings to put the system together and a mounting platform to support the testing station. Finally, I implemented sensors at various points in the system to measure the temperature, pressure, and flow rate, and a data acquisition system to collect this information. In the future, the information from these sensors will be used to study the behavior of the subsystem under different conditions and select the best part for the rover.

Archaeological field survey automation: concurrent multisensor site mapping and automated analysis

NASA Astrophysics Data System (ADS)

Józefowicz, Mateusz; Sokolov, Oleksandr; Meszyński, Sebastian; Siemińska, Dominika; Kołosowski, Przemysław

2016-04-01

ABM SE develops mobile robots (rovers) used for analog research of Mars exploration missions. The rovers are all-terrain exploration platforms, carrying third-party payloads: scientific instrumentation. "Wisdom" ground penetrating radar for Exomars mission has been tested onboard, as well as electrical resistivity module and other devices. Robot has operated in various environments, such as Central European countryside, Dachstein ice caves or Sahara, Morocco (controlled remotely via satellite from Toruń, Poland. Currently ABM SE works on local and global positioning system for a Mars rover basing on image and IMU data. This is performed under a project from ESA. In the next Mars rover missions a Mars GIS model will be build, including an acquired GPR profile, DEM and regular image data, integrated into a concurrent 3D terrain model. It is proposed to use similar approach in surveys of archaeological sites, especially those, where solid architecture remains can be expected at shallow depths or being partially exposed. It is possible to deploy a rover that will concurrently map a selected site with GPR, 2D and 3D cameras to create a site model. The rover image processing algorithms are capable of automatic tracing of distinctive features (such as exposed structure remains on a desert ground, differences in color of the ground, etc.) and to mark regularities on a created map. It is also possible to correlate the 3D map with an aerial photo taken under any angle to achieve interpretation synergy. Currently the algorithms are an interpretation aid and their results must be confirmed by a human. The advantages of a rover over traditional approaches, such as a manual cart or a drone include: a) long hours of continuous work or work in unfavorable environment, such as high desert, frozen water pools or large areas, b) concurrent multisensory data acquisition, c) working from the ground level enables capturing of sites obstructed from the air (trees), d) it is possible to

Risk-Aware Planetary Rover Operation: Autonomous Terrain Classification and Path Planning

NASA Technical Reports Server (NTRS)

Ono, Masahiro; Fuchs, Thoams J.; Steffy, Amanda; Maimone, Mark; Yen, Jeng

2015-01-01

Identifying and avoiding terrain hazards (e.g., soft soil and pointy embedded rocks) are crucial for the safety of planetary rovers. This paper presents a newly developed groundbased Mars rover operation tool that mitigates risks from terrain by automatically identifying hazards on the terrain, evaluating their risks, and suggesting operators safe paths options that avoids potential risks while achieving specified goals. The tool will bring benefits to rover operations by reducing operation cost, by reducing cognitive load of rover operators, by preventing human errors, and most importantly, by significantly reducing the risk of the loss of rovers.

Balancing ESA and iron therapy in a prospective payment environment.

PubMed

Aronoff, George R; Gaweda, Adam E

2014-02-01

Ever since the introduction of EPO, ESAs and iron dosing have been driven by financial incentives. When ESAs were a profit center for providers, large doses were used. With ESAs becoming a cost center, a new trend has appeared, gradually replacing their use with iron to achieve the same therapeutic effect at lower cost. This financially driven approach, treating ESAs and iron as alternatives, is not consistent with human physiology where these agents act in a complementary manner. It is likely that we are still giving unnecessarily large doses of ESAs and iron, relative to what our patients' true needs are. Although we have highlighted the economic drivers of this outcome, many other factors play a role. These include our lack of understanding of the complex interplay of the anemia of chronic disease, inflammation, poor nutrition, blood loss through dialysis, ESAs and iron deficiency. We propose that physiology-driven modeling may provide some insight into the interactions between erythropoiesis and ferrokinetics. This insight can then be used to derive new, physiologically compatible dosing guidelines for ESAs and iron.

Adsorption of methane and CO2 onto olivine surfaces in Martian dust conditions

NASA Astrophysics Data System (ADS)

Escamilla-Roa, Elizabeth; Martin-Torres, Javier; Sainz-Díaz, C. Ignacio

2018-04-01

analysis of the data from the upcoming remote and in-situ observations on Mars, as those to be performed by instruments on the ESA's ExoMars Trace Gas Orbiter and ExoMars rover.

Rover Takes a Sunday Drive

NASA Technical Reports Server (NTRS)

2004-01-01

This animation, made with images from the Mars Exploration Rover Spirit hazard-identification camera, shows the rover's perspective of its first post-egress drive on Mars Sunday. Engineers drove Spirit approximately 3 meters (10 feet) toward its first rock target, a football-sized, mountain-shaped rock called Adirondack. The drive took approximately 30 minutes to complete, including time stopped to take images. Spirit first made a series of arcing turns totaling approximately 1 meter (3 feet). It then turned in place and made a series of short, straightforward movements totaling approximately 2 meters (6.5 feet).

Autonomous Onboard Science Image Analysis for Future Mars Rover Missions

NASA Technical Reports Server (NTRS)

Gulick, V. C.; Morris, R. L.; Ruzon, M. A.; Roush, T. L.

1999-01-01

To explore high priority landing sites and to prepare for eventual human exploration, future Mars missions will involve rovers capable of traversing tens of kilometers. However, the current process by which scientists interact with a rover does not scale to such distances. Specifically, numerous command cycles are required to complete even simple tasks, such as, pointing the spectrometer at a variety of nearby rocks. In addition, the time required by scientists to interpret image data before new commands can be given and the limited amount of data that can be downlinked during a given command cycle constrain rover mobility and achievement of science goals. Experience with rover tests on Earth supports these concerns. As a result, traverses to science sites as identified in orbital images would require numerous science command cycles over a period of many weeks, months or even years, perhaps exceeding rover design life and other constraints. Autonomous onboard science analysis can address these problems in two ways. First, it will allow the rover to transmit only "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands. For example, a rover might autonomously acquire and return spectra of "interesting" rocks along with a high resolution image of those rocks in addition to returning the context images in which they were detected. Such approaches, coupled with appropriate navigational software, help to address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing fast, autonomous algorithms to enable such intelligent on-board decision making by spacecraft. Autonomous algorithms developed to date have the ability to identify rocks and layers in a scene, locate the horizon, and compress multi-spectral image data. Output from these algorithms could be used to autonomously obtain rock spectra, determine which images should be

Planetary surface exploration MESUR/autonomous lunar rover

NASA Astrophysics Data System (ADS)

Stauffer, Larry; Dilorenzo, Matt; Austin, Dave; Ayers, Raymond; Burton, David; Gaylord, Joe; Kennedy, Jim; Laux, Richard; Lentz, Dale; Nance, Preston

Planetary surface exploration micro-rovers for collecting data about the Moon and Mars have been designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA/Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental Survey (MESUR) Alpha Particle/Proton/X-ray (APX) Instrument. The system is to be launched with the 16 MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker have been developed to deploy the APX from the lander to the Martian Surface. While on Mars, the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation that NASA can use for future lunar exploratory missions. This report includes a detailed description of the designs and the methods and procedures which the University of Idaho design teams followed to arrive at the final designs.

Planetary surface exploration MESUR/autonomous lunar rover

NASA Technical Reports Server (NTRS)

Stauffer, Larry; Dilorenzo, Matt; Austin, Dave; Ayers, Raymond; Burton, David; Gaylord, Joe; Kennedy, Jim; Laux, Richard; Lentz, Dale; Nance, Preston

1992-01-01

Planetary surface exploration micro-rovers for collecting data about the Moon and Mars have been designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA/Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental Survey (MESUR) Alpha Particle/Proton/X-ray (APX) Instrument. The system is to be launched with the 16 MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker have been developed to deploy the APX from the lander to the Martian Surface. While on Mars, the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation that NASA can use for future lunar exploratory missions. This report includes a detailed description of the designs and the methods and procedures which the University of Idaho design teams followed to arrive at the final designs.

Planning for execution monitoring on a planetary rover

NASA Technical Reports Server (NTRS)

Gat, Erann; Firby, R. James; Miller, David P.

1990-01-01

A planetary rover will be traversing largely unknown and often unknowable terrain. In addition to geometric obstacles such as cliffs, rocks, and holes, it may also have to deal with non-geometric hazards such as soft soil and surface breakthroughs which often cannot be detected until rover is in imminent danger. Therefore, the rover must monitor its progress throughout a traverse, making sure to stay on course and to detect and act on any previously unseen hazards. Its onboard planning system must decide what sensors to monitor, what landmarks to take position readings from, and what actions to take if something should go wrong. The planning systems being developed for the Pathfinder Planetary Rover to perform these execution monitoring tasks are discussed. This system includes a network of planners to perform path planning, expectation generation, path analysis, sensor and reaction selection, and resource allocation.

Rover, Airbags & Martian Terrain

NASA Image and Video Library

1997-07-04

This picture from Mars Pathfinder was taken at 9:30 AM in the martian morning (2:30 PM Pacific Daylight Time), after the spacecraft landed earlier today (July 4, 1997). The Sojourner rover is perched on one of three solar panels. The rover is 65 cm (26 inches) long by 18 cm (7 inches) tall; each of its wheels is about 13 cm (5 inches) high. The white material to the left of the front of the rover is part of the airbag system used to cushion the landing. Many rocks of different of different sizes can be seen, set in a background of reddish soil. The landing site is in the mouth of an ancient channel carved by water. The rocks may be primarily flood debris. The horizon is seen towards the top of the picture. The light brown hue of the sky results from suspended dust. Pathfinder, a low-cost Discovery mission, is the first of a new fleet of spacecraft that are planned to explore Mars over the next ten years. Mars Global Surveyor, already en route, arrives at Mars on September 11 to begin a two year orbital reconnaissance of the planet's composition, topography, and climate. Additional orbiters and landers will follow every 26 months. http://photojournal.jpl.nasa.gov/catalog/PIA00608

ESA Human rating Requirements:Status

NASA Astrophysics Data System (ADS)

Trujillo, M.; Sgobba, T.

2012-01-01

The European Space Agency (ESA) human rating safety requirements are based on heritage requirements of the International Space Station as well as the knowledge and experience derived from European participation on international partnerships. This expertise in conjunction with recommendations derived from past accidents (i.e.: Columbia) and lessons learned have led to the identification of m inimum core safety tech nical requirements for hum an rated space syst ems. These requirements apply to th e crewed space vehicle, integrated space system (i.e.: cre wed vehicle on its launcher) and its interfaces with control centres, la unch pad, etc. In 2009, a first draft was issued. Then, in the summer of 2010, ESA established a working group comprised of more than twenty experts (from disciplines including propulsion, pyrotechnics, structures, avionics, human factors and life support among others) across the Agency to review this draft. This paper provides an overview of ESA "Safety technical re quirements for human rated s pace systems" document, its scope a nd structure, as well as the planned steps for verification of these requirements in term s of achieving the identified safety objectives for crew safety in t erms of a quantitative risk evaluation.

The ESA standard for telemetry and telecommand packet utilisation: PUS

NASA Technical Reports Server (NTRS)

Kaufeler, Jean-Francois

1994-01-01

ESA has developed standards for packet telemetry and telecommand, which are derived from the recommendations of the Inter-Agency Consultative Committee for Space Data Systems (CCSDS). These standards are now mandatory for future ESA programs as well as for many programs currently under development. However, while these packet standards address the end-to-end transfer of telemetry and telecommand data between applications on the ground and Application Processes on-board, they leave open the internal structure or content of the packets. This paper presents the ESA Packet Utilization Standard (PUS) which addresses this very subject and, as such, serves to extend and complement the ESA packet standards. The goal of the PUS is to be applicable to future ESA missions in all application areas (Telecommunications, Science, Earth Resources, microgravity, etc.). The production of the PUS falls under the responsibility of the ESA Committee for Operations and EGSE Standards (COES).

Exploration Rover Concepts and Development Challenges

NASA Technical Reports Server (NTRS)

Zakrajsek, James J.; McKissock, David B.; Woytach, Jeffrey M.; Zakrajsek, June F.; Oswald, Fred B.; McEntire, Kelly J.; Hill, Gerald M.; Abel, Phillip; Eichenberg, Dennis J.; Goodnight, Thomas W.

2005-01-01

This paper presents an overview of exploration rover concepts and the various development challenges associated with each as they are applied to exploration objectives and requirements for missions on the Moon and Mars. A variety of concepts for surface exploration vehicles have been proposed since the initial development of the Apollo-era lunar rover. This paper provides a brief description of the rover concepts, along with a comparison of their relative benefits and limitations. In addition, this paper outlines, and investigates a number of critical development challenges that surface exploration vehicles must address in order to successfully meet the exploration mission vision. These include: mission and environmental challenges, design challenges, and production and delivery challenges. Mission and environmental challenges include effects of terrain, extreme temperature differentials, dust issues, and radiation protection. Design methods are discussed that focus on optimum methods for developing highly reliable, long-life and efficient systems. In addition, challenges associated with delivering a surface exploration system is explored and discussed. Based on all the information presented, modularity will be the single most important factor in the development of a truly viable surface mobility vehicle. To meet mission, reliability, and affordability requirements, surface exploration vehicles, especially pressurized rovers, will need to be modularly designed and deployed across all projected Moon and Mars exploration missions.

Planetary rover robotics experiment in education: carbonate rock collecting experiment of the Husar-5 rover

NASA Astrophysics Data System (ADS)

Szalay, Kristóf; Lang, Ágota; Horváth, Tamás; Prajczer, Péter; Bérczi, Szaniszló

2013-04-01

Introduction: The new experiment for the Husar-5 educational space probe rover consists of steps of the technology of procedure of finding carbonate speci-mens among the rocks on the field. 3 main steps were robotized: 1) identification of carbonate by acid test, 2) measuring the gases liberated by acid, and 3) magnetic test. Construction of the experiment: The basis of the robotic realization of the experiment is a romote-controlled rover which can move on the field. Onto this rover the mechanism of the experiments were built from Technics LEGO elements and we used LEGO-motors for making move these experiments. The operation was coordinated by an NXT-brick which was suitable to programming. Fort he acetic-test the drops should be passed to the selected area. Passing a drop to a locality: From the small holder of the acid using densified gas we pump some drop onto the selected rock. We promote this process by pumpig the atmospheric gas into another small gas-container, so we have another higher pressure gas there. This is pumped into the acid-holder. The effect of the reaction is observed by a wireless onboard camera In the next step we can identify the the liberated gas by the gas sensor. Using it we can confirm the liberation of the CO2 gas without outer observer. The third step is the controll of the paramagnetic properties.. In measuring this feature a LEGO-compass is our instrumentation. We use a electric current gener-ated magnet. During the measurements both the coil and the gas-sensor should be positioned to be near to the surface. This means, that a lowering and an uplifting machinery should be constructed. Summary: The sequence of the measurement is the following. 1) the camera - after giving panorama images - turns toward the soil surface, 2) the dropping onto the rock surface 3) at the same time the gas-sensor starts to move down above the rock 4) the compass sensor also moves down on the arm which holds both the gas-sensor and the compass-sensor 5

The NASA Langley Mars Tumbleweed Rover Prototype

NASA Technical Reports Server (NTRS)

Antol, Jeffrey; Chattin, Richard L.; Copeland, Benjamin M.; Krizann, Shawn A.

2005-01-01

Mars Tumbleweed is a concept for an autonomous rover that would achieve mobility through use of the natural winds on Mars. The wind-blown nature of this vehicle make it an ideal platform for conducting random surveys of the surface, scouting for signs of past or present life as well as examining the potential habitability of sites for future human exploration. NASA Langley Research Center (LaRC) has been studying the dynamics, aerodynamics, and mission concepts of Tumbleweed rovers and has recently developed a prototype Mars Tumbleweed Rover for demonstrating mission concepts and science measurement techniques. This paper will provide an overview of the prototype design, instrumentation to be accommodated, preliminary test results, and plans for future development and testing of the vehicle.

SeaRover: An Emerging Technology for Sea Surface Sensor Networks

NASA Astrophysics Data System (ADS)

Fong, T.; Kudela, R.; Curcio, J.; Davidson, K.; Darling, D.; Kirkwood, B.

2005-12-01

Introduction - SeaRover is envisioned as an autonomous surface vehicle (ASV) for coastal operations. It is intended to lower the cost of existing marine survey applications while enabling new science missions. The current conceptual design is a small vehicle with hull and propulsion system optimized to eliminate cavitation and EM noise. SeaRover will make significant advances over existing platforms by providing longer duration science missions, better positioning and mission control, larger power budgets for instrumentation and significantly lower operational costs than existing vehicles. Science Enabled by SeaRover - SeaRover's unique design and autonomous capability provides several advantages compared to traditional autonomous underwater vehicles (AUV's) and crewed surface vessels: (1) Near surface sampling: SeaRover can sample within the top 1-2 meters. This is difficult to do with crewed vessels because of draft and perturbations from the hull. (2) Adaptive monitoring of dynamic events: SeaRover will be capable of intelligent decision making, as well as real-time remote control. This will enable highly-responsive autonomous tracking of moving phenomena (e.g., algal bloom). (3) Long term monitoring: SeaRover can be deployed for extended periods of time, allowing it to be used for longitudinal baseline studies. SeaRover will represent an advance over existing platforms in terms of: (1) Mobility: operational range from 10-1000 km, GPS accuracy, trajectory control with meter precision, and launch in hours. (2) Duration: from days up to months. (3) Payload and Power: accommodate approximately 100 kg for a 6m hull. Its surface design will allow access to wind and sun energy. (4) Communication: radio, wireless, satellite, direct data return. (5) Operational Cost: target costs are $2K/day (24 hour operation), with no onboard operator. (6) Recovery/Reusability: autonomous return to safe harbor provides sample return and on-base maintenance. Large science and power

Autonomous navigation and control of a Mars rover

NASA Technical Reports Server (NTRS)

Miller, D. P.; Atkinson, D. J.; Wilcox, B. H.; Mishkin, A. H.

1990-01-01

A Mars rover will need to be able to navigate autonomously kilometers at a time. This paper outlines the sensing, perception, planning, and execution monitoring systems that are currently being designed for the rover. The sensing is based around stereo vision. The interpretation of the images use a registration of the depth map with a global height map provided by an orbiting spacecraft. Safe, low energy paths are then planned through the map, and expectations of what the rover's articulation sensors should sense are generated. These expectations are then used to ensure that the planned path is correctly being executed.

Effectiveness of Switch to Erythropoiesis-Stimulating Agent (ESA) Biosimilars versus Maintenance of ESA Originators in the Real-Life Setting: Matched-Control Study in Hemodialysis Patients.

PubMed

Minutolo, Roberto; Bolasco, Piergiorgio; Chiodini, Paolo; Sposini, Stefano; Borzumati, Maurizio; Abaterusso, Cataldo; Mele, Alessandra A; Santoro, Domenico; Canale, Valeria; Santoboni, Alberto; Filiberti, Oliviero; Fiorini, Fulvio; Mura, Carlo; Imperiali, Patrizio; Borrelli, Silvio; Russo, Luigi; De Nicola, Luca; Russo, Domenico

2017-10-01

In hemodialysis (HD), switching from erythropoiesis-stimulating agent (ESA) originators to biosimilars is associated with the need for doses approximately 10% higher, according to industry-driven studies. The aim of this study was to evaluate the efficacy on anemia control of switching from ESA originators to biosimilars in daily clinical practice. We retrospectively selected consecutive HD patients receiving stable intravenous ESA doses, and who had not been transfused in the previous 6 months, from 12 non-profit Italian centers. Patients switched from originators to biosimilars (n = 163) were matched with those maintained on ESA originators (n = 163) using a propensity score approach. The study duration was 24 weeks, and the primary endpoint was the mean dose difference (MDD), defined as the difference between the switch and control groups of ESA dose changes during the study (time-weighted average ESA dose minus baseline ESA dose). Age (70 ± 13 years), male sex (63%), diabetes (29%), history of cardiovascular disease (40%), body weight (68 ± 14 kg), vascular access (86% arteriovenous fistula), hemoglobin [Hb] (11.2 ± 0.9 g/dL) and ESA dose (8504 ± 6370 IU/week) were similar in the two groups. Hb remained unchanged during the study in both groups. Conversely, ESA dose remained unchanged in the control group and progressively increased in the switch group from week 8 to 24. The time-weighted average of the ESA dose was higher in the switch group than in the control group (10,503 ± 7389 vs. 7981 ± 5858 IU/week; p = 0.001), leading to a significant MDD of 2423 IU/week (95% confidence interval [CI] 1615-3321), corresponding to a 39.6% (95% CI 24.7-54.6) higher dose of biosimilars compared with originators. The time-weighted average of Hb was 0.2 g/dL lower in the switch group, with a more frequent ESA hyporesponsiveness (14.7 vs. 2.5%). Iron parameters and other resistance factors remained unchanged. In stable dialysis patients

Performance of the Mechanically Pumped Fluid Loop Rover Heat Rejection System Used for Thermal Control of the Mars Science Laboratory Curiosity Rover on the Surface of Mars

NASA Technical Reports Server (NTRS)

Bhandari, Pradeep; Birur, Gajanana; Bame, David; Mastropietro, A. J.; Miller, Jennifer; Karlmann, Paul; Liu, Yuanming; Anderson, Kevin

2013-01-01

The challenging range of landing sites for which the Mars Science Laboratory Rover was designed, required a rover thermal management system that is capable of keeping temperatures controlled across a wide variety of environmental conditions. On the Martian surface where temperatures can be as cold as -123 C and as warm as 38 C, the Rover relies upon a Mechanically Pumped Fluid Loop (MPFL) Rover Heat Rejection System (RHRS) and external radiators to maintain the temperature of sensitive electronics and science instruments within a -40 C to +50 C range. The RHRS harnesses some of the waste heat generated from the Rover power source, known as the Multi Mission Radioisotope Thermoelectric Generator (MMRTG), for use as survival heat for the rover during cold conditions. The MMRTG produces 110 Watts of electrical power while generating waste heat equivalent to approximately 2000 Watts. Heat exchanger plates (hot plates) positioned close to the MMRTG pick up this survival heat from it by radiative heat transfer and supply it to the rover. This design is the first instance of use of a RHRS for thermal control of a rover or lander on the surface of a planet. After an extremely successful landing on Mars (August 5), the rover and the RHRS have performed flawlessly for close to an earth year (half the nominal mission life). This paper will share the performance of the RHRS on the Martian surface as well as compare it to its predictions.

Rovers minimize human disturbance in research on wild animals.

PubMed

Le Maho, Yvon; Whittington, Jason D; Hanuise, Nicolas; Pereira, Louise; Boureau, Matthieu; Brucker, Mathieu; Chatelain, Nicolas; Courtecuisse, Julien; Crenner, Francis; Friess, Benjamin; Grosbellet, Edith; Kernaléguen, Laëtitia; Olivier, Frédérique; Saraux, Claire; Vetter, Nathanaël; Viblanc, Vincent A; Thierry, Bernard; Tremblay, Pascale; Groscolas, René; Le Bohec, Céline

2014-12-01

Investigating wild animals while minimizing human disturbance remains an important methodological challenge. When approached by a remote-operated vehicle (rover) which can be equipped to make radio-frequency identifications, wild penguins had significantly lower and shorter stress responses (determined by heart rate and behavior) than when approached by humans. Upon immobilization, the rover-unlike humans-did not disorganize colony structure, and stress rapidly ceased. Thus, rovers can reduce human disturbance of wild animals and the resulting scientific bias.

Mars Science Laboratory Rover Mobility Bushing Development

NASA Technical Reports Server (NTRS)

Riggs, Benjamin

2008-01-01

NASA s Mars Science Laboratory (MSL) Project will send a six-wheeled rover to Mars in 2009. The rover will carry a scientific payload designed to search for organic molecules on the Martian surface during its primary mission. This paper describes the development and testing of a bonded film lubricated bushing system to be used in the mobility system of the rover. The MSL Rover Mobility System contains several pivots that are tightly constrained with respect to mass and volume. These pivots are also exposed to relatively low temperatures (-135 C) during operation. The combination of these constraints led the mobility team to consider the use of solid film lubricated metallic bushings and dry running polymeric bushings in several flight pivot applications. A test program was developed to mitigate the risk associated with using these materials in critical pivots on the MSL vehicle. The program was designed to characterize bushing friction and wear performance over the expected operational temperature range (-135 C to +70 C). Seven different bushing material / lubricant combinations were evaluated to aid in the selection of the final flight pivot bushing material / lubricant combination.

Reading the Rover Tracks

NASA Image and Video Library

2012-08-29

The straight lines in Curiosity zigzag track marks are Morse code for JPL. The footprint is an important reference mark that the rover can use to drive more precisely via a system called visual odometry.

Managing PV Power on Mars - MER Rovers

NASA Technical Reports Server (NTRS)

Stella, Paul M.; Chin, Keith; Wood, Eric; Herman, Jennifer; Ewell, Richard

2009-01-01

The MER Rovers have recently completed over 5 years of operation! This is a remarkable demonstration of the capabilities of PV power on the Martian surface. The extended mission required the development of an efficient process to predict the power available to the rovers on a day-to-day basis. The performance of the MER solar arrays is quite unlike that of any other Space array and perhaps more akin to Terrestrial PV operation, although even severe by that comparison. The impact of unpredictable factors, such as atmospheric conditions and dust accumulation (and removal) on the panels limits the accurate prediction of array power to short time spans. Based on the above, it is clear that long term power predictions are not sufficiently accurate to allow for detailed long term planning. Instead, the power assessment is essentially a daily activity, effectively resetting the boundary points for the overall predictive power model. A typical analysis begins with the importing of the telemetry from each rover's previous day's power subsystem activities. This includes the array power generated, battery state-of-charge, rover power loads, and rover orientation, all as functions of time. The predicted performance for that day is compared to the actual performance to identify the extent of any differences. The model is then corrected for these changes. Details of JPL's MER power analysis procedure are presented, including the description of steps needed to provide the final prediction for the mission planners. A dust cleaning event of the solar array is also highlighted to illustrate the impact of Martian weather on solar array performance

3D mapping of buried rocks by the GPR WISDOM/ExoMars 2020

NASA Astrophysics Data System (ADS)

Herve, Yann; Ciarletti, Valerie; Le Gall, Alice; Quantin, Cathy; Guiffaut, Christophe; Plettemeier, Dirk

2017-04-01

The main objective of ExoMars 2020 is to search for signs of past and/or present life on Mars. Because these signs may be beneath the inhospitable surface of Mars, the ExoMars Rover has on board a suite of instruments aiming at characterizing the subsurface. In particular, the Rover payload includes WISDOM (Water Ice Subsurface Deposits Observation on Mars), a polarimetric ground penetrating radar designed to investigate the shallow subsurface. WISDOM is able to probe down to a depth of few meters with a resolution of few centimeters; its main objective is to provide insights into the geological context of the investigated Martian sites and to determine the most promising location to collect samples for the ExoMars drill. In this paper, we demonstrate the ability of WISDOM to locate buried rocks and to estimate their size distribution. Indeed, the rock distribution is related to the geological processes at play in the past or currently and thus provides clues to understand the geological context of the investigated site. Rocks also represent a hazard for drilling operations that WISDOM is to guide. We use a 3D FDTD code called TEMSI-FD (which takes into account the radiation pattern of the antenna system) to simulate WISDOM operations on a realistic (both in terms of dielectric properties and structure) ground. More specifically, our geoelectrical models of the Martian subsurface take into account realistic values of the complex permittivity relying on published measurements performed in laboratory on Martian analogues. Further, different distributions of buried rocks are considered based on the size-frequency distribution observed at the Mars Pathfinder landing site and on Oxia Planum, the landing site currently selected for ExoMars 2020. We will describe the algorithm we developed to automatically detect the signature of the buried rocks on radargrams. The radargrams are obtained simulating WISDOM operations along parallel and perpendicular profiles as planned

ESA's Earth Observation Programmes in the Changing Anthropocene

NASA Astrophysics Data System (ADS)

Liebig, Volker

2016-07-01

The intervention will present ESA's Earth Observation programmes and their relevance to studying the anthropocene. ESA's Earth observation missions are mainly grouped into three categories: The Sentinel satellites in the context of the European Copernicus Programme, the scientific Earth Explorers and the meteorological missions. Developments, applications and scientific results for the different mission types will be addressed, along with overall trends and strategies. The Earth Explorers, who form the science and research element of ESA's Living Planet Programme, focus on the atmosphere, biosphere, hydrosphere, cryosphere and Earth's interior. The Earth Explorers also aim at learning more about the interactions between these components and the impact that human activity is having on natural Earth processes. The Sentinel missions provide accurate, timely, long term and uninterrupted data to provide key information services, improving the way the environment is managed, and helping to mitigate the effects of climate change. The operational Sentinel satellites can also be exploited for scientific studies of the anthropocene. In the anthropocene human activities affect the whole planet and space is a very efficient means to measure their impact, but for relevant endeavours to be successful they can only be carried out in international cooperation. ESA maintains long-standing partnerships with other space agencies and institutions worldwide. In running its Earth observation programmes, ESA responds to societal needs and challenges and to requirements resulting from political priorities set by decision makers. Activities related to Climate Change are a prime example. Within ESA's Climate Change Initiative, 13 Essential Climate Variables are constantly monitored to create a long-term record of key geophysical parameters.

The ESA scientific exploitation element results and outlook

NASA Astrophysics Data System (ADS)

Desnos, Yves-louis; Regner, Peter; Delwart, Steven; Benveniste, Jerome; Engdahl, Marcus; Donlon, Craig; Mathieu, Pierre-Philippe; Fernandez, Diego; Gascon, Ferran; Zehner, Claus; Davidson, Malcolm; Goryl, Philippe; Koetz, Benjamin; Pinnock, Simon

2017-04-01

The Scientific Exploitation of Operational Missions (SEOM) element of ESA's fourth Earth Observation Envelope Programme (EOEP4) prime objective is to federate, support and expand the international research community built up over the last 25 years exploiting ESA's EO missions. SEOM enables the science community to address new scientific research areas that are opened by the free and open access to data from operational EO missions. Based on community-wide recommendations, gathered through a series of international thematic workshops and scientific user consultation meetings, key research studies have been launched over the last years to further exploit data from the Sentinels (http://seom.esa.int/). During 2016 several Science users consultation workshops have been organized, new results from scientific studies have been published and open-source multi-mission scientific toolboxes have been distributed (SNAP 80000 users from 190 countries). In addition the first ESA Massive Open Online Courses on Climate from space have been deployed (20000 participants) and the second EO Open Science conference was organized at ESA in September 2016 bringing together young EO scientists and data scientists. The new EOEP5 Exploitation element approved in 2016 and starting in 2017 is taking stock of all precursor activities in EO Open Science and Innovation and in particular a workplan for ESA scientific exploitation activities has been presented to Member States taking full benefit of the latest information and communication technology. The results and highlights from current scientific exploitation activities will be presented and an outlook on the upcoming activities under the new EOEP5 exploitation element will be given.

MA_MISS and terrestrial analogues for Mars

NASA Astrophysics Data System (ADS)

De Sanctis, M. C.; De Angelis, S.; Ammannito, E.; Di Iorio, T.; Carli, C.; Frigeri, A.; Boccaccini, A.; Battistelli, E.; Mugnolo, R.; MA MISS Team

2012-09-01

The MA_MISS instrument (Mars Multispectral Imager for Subsurface Studies) is a VIS-NIR spectrometer devoted to study the Martian subsoil within the ExoMars mission. This miniaturized spectrometer is integrated in drilling system of the ExoMars Pasteur Rover, and will investigate the Martian subsoil down to 2 m, in the spectral range 0.4 - 2.2 μm [1,2]. It will provide important information regarding the composition and mineralogy of the Martian subsoil, whose materials are expected to be less altered by erosion and other exogenous processes than surface rocks. With a view to doing laboratory spectroscopic measurements with the instrument breadboard, we performed preliminary laboratory measurements on Mars analogues using a spectrophotometer coupled with a goniometer.

Windtunnel Rebuilding And Extrapolation To Flight At Transsonic Speed For ExoMars

NASA Astrophysics Data System (ADS)

Fertig, Markus; Neeb, Dominik; Gulhan, Ali

2011-05-01

The static as well as the dynamic behaviour of the EXOMARS vehicle in the transonic velocity regime has been investigated experimentally by the Supersonic and Hypersonic Technology Department of DLR in order to investigate the behaviour prior to parachute opening. Since the experimental work was performed in air, a numerical extrapolation to flight by means of CFD is necessary. At low supersonic speed this extrapolation to flight was performed by the Spacecraft Department of the Institute of Flow Technology of DLR employing the CFD code TAU. Numerical as well as experimental results for the wind tunnel test at Mach 1.2 will be compared and discussed for three different angles of attack.

Looking Up at Mars Rover Curiosity in Buckskin Selfie

NASA Image and Video Library

2015-08-19

This low-angle self-portrait of NASA's Curiosity Mars rover shows the vehicle at the site from which it reached down to drill into a rock target called "Buckskin" on lower Mount Sharp. The selfie combines several component images taken by Curiosity's Mars Hand Lens Imager (MAHLI) on Aug. 5, 2015, during the 1,065th Martian day, or sol, of the rover's work on Mars. For scale, the rover's wheels are 20 inches (50 centimeters) in diameter and about 16 inches (40 centimeters) wide. This view is a portion of a larger panorama available at PIA19807. A close look reveals a small rock stuck onto Curiosity's left middle wheel (on the right in this head-on view). The rock had been seen previously during periodic monitoring of wheel condition about three weeks earlier, in the MAHLI raw image at http://mars.nasa.gov/msl/multimedia/raw/?rawid=1046MH0002640000400290E01_DXXX&s=1046. MAHLI is mounted at the end of the rover's robotic arm. For this self-portrait, the rover team positioned the camera lower in relation to the rover body than for any previous full self-portrait of Curiosity. This yielded a view that includes the rover's "belly," as in a partial self-portrait (/catalog/PIA16137) taken about five weeks after Curiosity's August 2012 landing inside Mars' Gale Crater. The selfie at Buckskin does not include the rover's robotic arm beyond a portion of the upper arm held nearly vertical from the shoulder joint. With the wrist motions and turret rotations used in pointing the camera for the component images, the arm was positioned out of the shot in the frames or portions of frames used in this mosaic. This process was used previously in acquiring and assembling Curiosity self-portraits taken at sample-collection sites "Rocknest" (PIA16468), "John Klein" (PIA16937), "Windjana" (PIA18390) and "Mojave" (PIA19142). MAHLI was built by Malin Space Science Systems, San Diego. NASA's Jet Propulsion Laboratory, a division of the California Institute of Technology in Pasadena, manages

Attitude and position estimation on the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Ali, Khaled S.; Vanelli, C. Anthony; Biesiadecki, Jeffrey J.; Maimone, Mark W.; Yang Cheng, A.; San Martin, Miguel; Alexander, James W.

2005-01-01

NASA/JPL 's Mars Exploration Rovers acquire their attitude upon command and autonomously propagate their attitude and position. The rovers use accelerometers and images of the sun to acquire attitude, autonomously searching the sky for the sun with a pointable camera. To propagate the attitude and position the rovers use either accelerometer and gyro readings or gyro readings and wheel odometiy, depending on the nature of the movement ground operators are commanding. Where necessary, visual odometry is performed on images to fine tune the position updates, particularly in high slip environments. The capability also exists for visual odometry attitude updates. This paper describes the techniques used by the rovers to acquire and maintain attitude and position knowledge, the accuracy which is obtainable, and lessons learned after more than one year in operation.

Martian Terrain, Unfurled Rover Ramps & Deflated Airbags

NASA Image and Video Library

1997-07-05

The Imager for Mars Pathfinder (IMP) took this image of surrounding terrain in the mid-morning on Mars (2:30 PM Pacific Daylight Time) earlier today. Part of the small rover, Sojourner, is visible on the left side of the picture. The tan cylinder to the right of the rover is one of two rolled-up ramps by which the rover will descend to the ground. The white, billowy material in the center of the picture is part of the airbag system. Many rocks of different shapes and sizes are visible between the lander and the horizon. Two hills are visible on the horizon. The notch on the left side of the leftmost conical hill is an artifact of the processing of this picture. http://photojournal.jpl.nasa.gov/catalog/PIA00613

The Effects of Clock Drift on the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Ali, Khaled S.; Vanelli, C. Anthony

2012-01-01

All clocks drift by some amount, and the mission clock on the Mars Exploration Rovers (MER) is no exception. The mission clock on both MER rovers drifted significantly since the rovers were launched, and it is still drifting on the Opportunity rover. The drift rate is temperature dependent. Clock drift causes problems for onboard behaviors and spacecraft operations, such as attitude estimation, driving, operation of the robotic arm, pointing for imaging, power analysis, and telecom analysis. The MER operations team has techniques to deal with some of these problems. There are a few techniques for reducing and eliminating the clock drift, but each has drawbacks. This paper presents an explanation of what is meant by clock drift on the rovers, its relationship to temperature, how we measure it, what problems it causes, how we deal with those problems, and techniques for reducing the drift.

On-Board Real-Time State and Fault Identification for Rovers

NASA Technical Reports Server (NTRS)

Washington, Richard

2000-01-01

For extended autonomous operation, rovers must identify potential faults to determine whether its execution needs to be halted or not. At the same time, rovers present particular challenges for state estimation techniques: they are subject to environmental influences that affect senior readings during normal and anomalous operation, and the sensors fluctuate rapidly both because of noise and because of the dynamics of the rover's interaction with its environment. This paper presents MAKSI, an on-board method for state estimation and fault diagnosis that is particularly appropriate for rovers. The method is based on a combination of continuous state estimation, wing Kalman filters, and discrete state estimation, wing a Markov-model representation.

2016 ROVER CHALLENGE EVENTS

NASA Image and Video Library

2015-01-08

2016 ROVER CHALLENGE EVENTS AT THE U.S. SPACE AND ROCKET CENTER IN HUNTSVILLE, ALABAMA. NATIONAL AND INTERNATIONAL COLLEGE AND HIGH SCHOOL STUDENTS COME TOGETHER TO TEST THEIR ENGINEERING SKILLS OVER A SIMULATED OUTER PLANET OBSTACLE COURSE.

Mast Camera and Its Calibration Target on Curiosity Rover

NASA Image and Video Library

2013-03-18

This set of images illustrates the twin cameras of the Mastcam instrument on NASA Curiosity Mars rover upper left, the Mastcam calibration target lower center, and the locations of the cameras and target on the rover.

Working on Mars: Understanding How Scientists, Engineers and Rovers Interacted Across Space and Time during the Mars Exploration Rover (MER) Mission

NASA Technical Reports Server (NTRS)

Wales, Roxana C.

2005-01-01

This viewgraph presentation summarizes the scheduling and planning difficulties inherent in operating the Mars Exploration Rovers (MER) during the overlapping terrestrial day and Martian sol. The presentation gives special empahsis to communication between the teams controlling the rovers from Earth, and keeping track of time on the two planets.

Application of CFS to a Lunar Rover: Resource Prospector (RP)

NASA Technical Reports Server (NTRS)

Cannon, Howard

2017-01-01

Resource Prospector (RP) is a lunar mission sponsored by NASA's Advanced Exploration Systems (AES) division, that aims to study in-situ resource utilization (ISRU) feasibility and technologies on the surface of the moon. The RP mission's lunar surface segment includes a rover equipped with with a suite of instruments specifically designed to measure and map volatiles both at the surface and in the subsurface. Of particular interest is the quantity and state of volatiles in permanently shadowed regions. To conduct the mission, ground system operators will remotely drive the rover, directing it to waypoints along the surface in order to achieve measurement objectives. At selected locations, an onboard drill will be deployed to collect material and obtain direct measurements of the subsurface constituents. RP is currently planned for launch in 2022. RP is managed at NASA Ames Research Center. The RP Rover is being designed and developed by NASA Johnson Space Center (JSC) in partnership with NASA Ames. NASA Kennedy Space Center (KSC) is responsible for the Honeybee drilling system and science payload. In order to better understand the technical challenges and demonstrate capability, in 2015 the RP project developed a rover testbed (known as RP15). In this mission in a year, a rover was designed, developed, and outfitted with science instruments and a drill. The rover was operated from a remote operations center, and operated in an outdoor lunar rock yard at Johnson space center. The study was a resounding success meeting all objectives. The RP Rover software architecture and development processes were based on the successful Lunar Atmosphere and Dust Environment Explorer spacecraft. This architecture is built on the Core Flight System software and an interface to Matlab/Simulink auto-generated software components known as the Simulink Interface Layer (SIL). The application of this lunar satellite inspired framework worked well for the rover application, and is

Application of the Core Flight System to a Lunar Rover

NASA Technical Reports Server (NTRS)

Cannon, Howard

2017-01-01

Resource Prospector (RP) is a lunar mission sponsored by NASAs Advanced Exploration Systems (AES) division, that aims to study in-situ resource utilization (ISRU) feasibility and technologies on the surface of the moon. The RP missions lunar surface segment includes a rover equipped with with a suite of instruments specifically designed to measure and map volatiles both at the surface and in the subsurface. Of particular interest is the quantity and state of volatiles in permanently shadowed regions. To conduct the mission, ground system operators will remotely drive the rover, directing it to waypoints along the surface in order to achieve measurement objectives. At selected locations, an onboard drill will be deployed to collect material and obtain direct measurements of the subsurface constituents. RP is currently planned for launch in 2022. RP is managed at NASA Ames Research Center. The RP Rover is being designed and developed by NASA Johnson Space Center (JSC) in partnership with NASA Ames. NASA Kennedy Space Center (KSC) is responsible for the Honeybee drilling system and science payload.In order to better understand the technical challenges and demonstrate capability, in 2015 the RP project developed a rover testbed (known as RP15). In this mission in a year, a rover was designed, developed, and outfitted with science instruments and a drill. The rover was operated from a remote operations center, and operated in an outdoor lunar rock yard at Johnson space center. The study was a resounding success meeting all objectives. The RP Rover software architecture and development processes were based on the successful Lunar Atmosphere and Dust Environment Explorer spacecraft. This architecture is built on the Core Flight System software and an interface to MatlabSimulink auto-generated software components known as the Simulink Interface Layer (SIL). The application of this lunar satellite inspired framework worked well for the rover application, and is currently

Follow the Mars Express launch from one of ESA's establishments

NASA Astrophysics Data System (ADS)

2003-05-01

Europe’s first mission to the Red Planet will reach its target in December, after a six-month journey. Mars Express will help scientists answer questions about the Martian landscape, atmosphere and the origin of life that remain open, although a wealth of information is already available. Media representatives in Europe can follow the launch and initial orbital operations at ESA/Darmstadt (ESOC) in Germany, which will be acting as the main European press centre, or ESA/Noordwijk (ESTEC) in the Netherlands. ESA/Frascati (ESRIN) in Italy and the Italian Space Agency, ASI, are organising a joint event at the University of Rome. ESA/Villafranca (VILSPA) and the CDTI, the Spanish institution in charge of space issues, are organising a joint event in Spain at the Museo Principe Felipe de la Ciudad de las Artes y las Ciencias in Valencia. At each site ESA specialists will be available for interviews. Media representatives wishing to attend are requested to complete the attached reply form and fax it to the Communication Office at the establishment of their choice. The ESA TV Service will provide live televised coverage of the launch and initial orbital operations with English commentary, between 19:15 and 22:00 CEST. Satellite: Astra 2C at 19 degrees East Reception frequency: 10832 MHz Polarisation: Horizontal Symbol rate: 22 Msymb/s FEC: 5/6 Service ID: 61950 Service name: ESA TXT: none Details of the transmission schedule and satellite details for the various pre-launch Video News Releases can be found on http://television.esa.int. The launch can also be followed live on the internet at www.esa.int/marsexpresslaunch starting at 19:15 hrs. Here you can also find the launch diary, news, press releases, videos, images and more.

Rover Attitude and Pointing System Simulation Testbed

NASA Technical Reports Server (NTRS)

Vanelli, Charles A.; Grinblat, Jonathan F.; Sirlin, Samuel W.; Pfister, Sam

2009-01-01

The MER (Mars Exploration Rover) Attitude and Pointing System Simulation Testbed Environment (RAPSSTER) provides a simulation platform used for the development and test of GNC (guidance, navigation, and control) flight algorithm designs for the Mars rovers, which was specifically tailored to the MERs, but has since been used in the development of rover algorithms for the Mars Science Laboratory (MSL) as well. The software provides an integrated simulation and software testbed environment for the development of Mars rover attitude and pointing flight software. It provides an environment that is able to run the MER GNC flight software directly (as opposed to running an algorithmic model of the MER GNC flight code). This improves simulation fidelity and confidence in the results. Further more, the simulation environment allows the user to single step through its execution, pausing, and restarting at will. The system also provides for the introduction of simulated faults specific to Mars rover environments that cannot be replicated in other testbed platforms, to stress test the GNC flight algorithms under examination. The software provides facilities to do these stress tests in ways that cannot be done in the real-time flight system testbeds, such as time-jumping (both forwards and backwards), and introduction of simulated actuator faults that would be difficult, expensive, and/or destructive to implement in the real-time testbeds. Actual flight-quality codes can be incorporated back into the development-test suite of GNC developers, closing the loop between the GNC developers and the flight software developers. The software provides fully automated scripting, allowing multiple tests to be run with varying parameters, without human supervision.

Laser-Induced Fluorescence Emission (L.I.F.E.): searching for Mars organics with a UV-enhanced PanCam.

PubMed

Storrie-Lombardi, Michael C; Muller, Jan-Peter; Fisk, Martin R; Cousins, Claire; Sattler, Birgit; Griffiths, Andrew D; Coates, Andrew J

2009-12-01

The European Space Agency will launch the ExoMars mission in 2016 with a primary goal of surveying the martian subsurface for evidence of organic material. We have recently investigated the utility of including either a 365 nm light-emitting diode or a 375 nm laser light source in the ExoMars rover panoramic camera (PanCam). Such a modification would make it feasible to monitor rover drill cuttings optically for the fluorescence signatures of aromatic organic molecules and map the distribution of polycyclic aromatic hydrocarbons (PAHs) as a function of depth to the 2 m limit of the ExoMars drill. The technique described requires no sample preparation, does not consume irreplaceable resources, and would allow mission control to prioritize deployment of organic detection experiments that require sample destruction, expenditure of non-replaceable consumables, or both. We report here for the first time laser-induced fluorescence emission (L.I.F.E.) imaging detection limits for anthracene, pyrene, and perylene targets doped onto a Mars analog granular peridotite with a 375 nm Nichia laser diode in optically uncorrected wide-angle mode. Data were collected via the Beagle 2 PanCam backup filter wheel fitted with original blue (440 nm), green (530 nm), and red (670 nm) filters. All three PAH species can be detected with the PanCam green (530 nm) filter. Detection limits in the green band for signal-to-noise ratios (S/N) > 10 are 49 parts per million (ppm) for anthracene, 145 ppm for pyrene, and 20 ppm for perylene. The anthracene detection limit improves to 7 ppm with use of the PanCam blue filter. We discuss soil-dependent detection limit constraints; use of UV excitation with other rover cameras, which provides higher spatial resolution; and the advantages of focused and wide-angle laser modes. Finally, we discuss application of L.I.F.E. techniques at multiple wavelengths for exploration of Mars analog extreme environments on Earth, including Icelandic hydrothermally

The ESA Planetary Science Archive User Group (PSA-UG)

NASA Astrophysics Data System (ADS)

Rossi, A. P.; Cecconi, B.; Fraenz, M.; Hagermann, A.; Heather, D.; Rosenblatt, P.; Svedhem, H.; Widemann, T.

2014-04-01

ESA has established a Planetary Science Archive User Group (PSA-UG), with the task of offering independent advice to ESA's Planetary Science Archive (e.g. Heather et al., 2013). The PSA-UG is an official and independent body that continuously evaluates services and tools provided by the PSA to the community of planetary data scientific users. The group has been tasked with the following top level objectives: a) Advise ESA on future development of the PSA. b) Act as a focus for the interests of the scientific community. c) Act as an advocate for the PSA. d) Monitor the PSA activities. Based on this, the PSA-UG will report through the official ESA channels. Disciplines and subjects represented by PSA-UG members include: Remote Sensing of both Atmosphere and Solid Surfaces, Magnetospheres, Plasmas, Radio Science and Auxilliary data. The composition of the group covers ESA missions populating the PSA both now and in the near future. The first members of the PSA-UG were selected in 2013 and will serve for 3 years, until 2016. The PSA-UG will address the community through workshops, conferences and the internet. Written recommendations will be made to the PSA coordinator, and an annual report on PSA and the PSA-UG activities will be sent to the Solar System Exploration Working Group (SSEWG). Any member of the community and planetary data user can get in touch with individual members of the PSA-UG or with the group as a whole via the contacts provided on the official PSA-UG web-page: http://archives.esac.esa.int/psa/psa-ug The PSA is accessible via: http://archives.esac.esa.int/psa

Tracking Positions and Attitudes of Mars Rovers

NASA Technical Reports Server (NTRS)

Ali, Khaled; vanelli, Charles; Biesiadecki, Jeffrey; Martin, Alejandro San; Maimone, Mark; Cheng, Yang; Alexander, James

2006-01-01

The Surface Attitude Position and Pointing (SAPP) software, which runs on computers aboard the Mars Exploration Rovers, tracks the positions and attitudes of the rovers on the surface of Mars. Each rover acquires data on attitude from a combination of accelerometer readings and images of the Sun acquired autonomously, using a pointable camera to search the sky for the Sun. Depending on the nature of movement commanded remotely by operators on Earth, the software propagates attitude and position by use of either (1) accelerometer and gyroscope readings or (2) gyroscope readings and wheel odometry. Where necessary, visual odometry is performed on images to fine-tune the position updates, particularly on high-wheel-slip terrain. The attitude data are used by other software and ground-based personnel for pointing a high-gain antenna, planning and execution of driving, and positioning and aiming scientific instruments.

ARPS Enabled Titan Rover Concept with Inflatable Wheels

NASA Technical Reports Server (NTRS)

Balint, Tibor S.; Schriener, Timothy M.; Shirley, James H.

2006-01-01

The Decadal Survey identified Titan as one of the top priority science destinations in the large moons category, while NASA's proposed Design Reference Mission Set ranked a Titan in-situ explorer second, after a recommended Europa Geophysical Observer mission. This paper discusses a Titan rover concept, enabled by a single advanced Radioisotope Power System that could provide about 110We (BOL). The concept targets the smaller Flagship or potentially the New Frontiers mission class. This MSL class rover would traverse on four 1.5 m diameter inflatable wheels during its 3 years mission duration and would use as much design and flight heritage as possible to reduce mission cost. Direct to Earth communication would remove the need for a relay orbiter. Details on the strawman instrument payload, and rover subsystems are given for this science driven mission concept. In addition, power system trades between Advanced RTG, TPV, and Advanced Stirling and Brayton Radioisotope Power Systems (RPS) are outlined. While many possible approaches exist for Titan in-situ exploration, the Titan rover concept presented here could provide a scientifically interesting and programmatically affordable solution.

The ESA Planetary Science Archive User Group (PSA-UG)

NASA Astrophysics Data System (ADS)

Pio Rossi, Angelo; Cecconi, Baptiste; Fraenz, Markus; Hagermann, Axel; Heather, David; Rosenblatt, Pascal; Svedhem, Hakan; Widemann, Thomas

2014-05-01

ESA has established a Planetary Science Archive User Group (PSA-UG), with the task of offering independent advice to ESA's Planetary Science Archive (e.g. Heather et al., 2013). The PSA-UG is an official and independent body that continuously evaluates services and tools provided by the PSA to the community of planetary data scientific users. The group has been tasked with the following top level objectives: a) Advise ESA on future development of the PSA. b) Act as a focus for the interests of the scientific community. c) Act as an advocate for the PSA. d) Monitor the PSA activities. Based on this, the PSA-UG will report through the official ESA channels. Disciplines and subjects represented by PSA-UG members include: Remote Sensing of both Atmosphere and Solid Surfaces, Magnetospheres, Plasmas, Radio Science and Auxilliary data. The composition of the group covers ESA missions populating the PSA both now and in the near future. The first members of the PSA-UG were selected in 2013 and will serve for 3 years, until 2016. The PSA-UG will address the community through workshops, conferences and the internet. Written recommendations will be made to the PSA coordinator, and an annual report on PSA and the PSA-UG activities will be sent to the Solar System Exploration Working Group (SSEWG). Any member of the community and planetary data user can get in touch with individual members of the PSA-UG or with the group as a whole via the contacts provided on the official PSA-UG web-page: http://archives.esac.esa.int/psa/psa-ug. The PSA is accessible via: http://archives.esac.esa.int/psa References: Heather, D., Barthelemy, M., Manaud, N., Martinez, S., Szumlas, M., Vazquez, J. L., Osuna, P. and the PSA Development Team (2013) ESA's Planetary Science Archive: Status, Activities and Plans. EuroPlanet Sci. Congr. #EPSC2013-626

Planetary Surface Exploration Using Raman Spectroscopy on Rovers and Landers

NASA Astrophysics Data System (ADS)

Blacksberg, Jordana; Alerstam, E.; Maruyama, Y.; Charbon, E.; Rossman, G. R.

2013-10-01

Planetary surface exploration using laser induced breakdown spectroscopy (LIBS) to probe the composition of rocks has recently become a reality with the operation of the mast-mounted ChemCam instrument onboard the Curiosity rover. Following this success, Raman spectroscopy has steadily gained support as a means for using laser spectroscopy to identify not just composition but mineral phases, without the need for sample preparation. The RLS Raman Spectrometer is included on the payload for the ExoMars mission, and a Raman spectrometer has been included in an example strawman payload for NASA’s Mars 2020 mission. Raman spectroscopy has been identified by the community as a feasible means for pre-selection of samples on Mars for subsequent return to Earth. We present a next-generation instrument that builds on the widely used green-Raman technique to provide a means for performing Raman spectroscopy without the background noise that is often generated by fluorescence of minerals and organics. Microscopic Raman spectroscopy with a laser spot size smaller than the grains of interest can provide surface mapping of mineralogy while preserving morphology. A very small laser spot size 1 µm) is often necessary to identify minor phases that are often of greater interest than the matrix phases. In addition to the difficulties that can be posed by fine-grained material, fluorescence interference from the very same material is often problematic. This is particularly true for many of the minerals of interest that form in environments of aqueous alteration and can be highly fluorescent. We use time-resolved laser spectroscopy to eliminate fluorescence interference that can often make it difficult or impossible to obtain Raman spectra. We will discuss significant advances leading to the feasibility of a compact time-resolved spectrometer, including the development of a new solid-state detector capable of sub-ns time resolution. We will present results on planetary analog

Thermal Performance of the Mars Science Laboratory Rover During Mars Surface Operations

NASA Technical Reports Server (NTRS)

Novak, Keith S.; Kempenaar, Joshua E.; Liu, Yuanming; Bhandari, Pradeep; Lee, Chern-Jiin

2013-01-01

On November 26, 2011, NASA launched a large (900 kg) rover as part of the Mars Science Laboratory (MSL) mission to Mars. Eight months later, on August 5, 2012, the MSL rover (Curiosity) successfully touched down on the surface of Mars. As of the writing of this paper, the rover had completed over 200 Sols of Mars surface operations in the Gale Crater landing site (4.5 deg S latitude). This paper describes the thermal performance of the MSL Rover during the early part of its two Earth-0.year (670 Sols) prime surface mission. Curiosity landed in Gale Crater during early Spring (Ls=151) in the Southern Hemisphere of Mars. This paper discusses the thermal performance of the rover from landing day (Sol 0) through Summer Solstice (Sol 197) and out to Sol 204. The rover surface thermal design performance was very close to pre-landing predictions. The very successful thermal design allowed a high level of operational power dissipation immediately after landing without overheating and required a minimal amount of survival heating. Early morning operations of cameras and actuators were aided by successful heating activities. MSL rover surface operations thermal experiences are discussed in this paper. Conclusions about the rover surface operations thermal performance are also presented.

Thermal Performance of the Mars Science Laboratory Rover During Mars Surface Operations

NASA Technical Reports Server (NTRS)

Novak, Keith S.; Kempenaar, Joshua E.; Liu, Yuanming; Bhandari, Pradeep; Lee, Chern-Jiin

2013-01-01

On November 26, 2011, NASA launched a large (900 kg) rover as part of the Mars Science Laboratory (MSL) mission to Mars. Eight months later, on August 5, 2012, the MSL rover (Curiosity) successfully touched down on the surface of Mars. As of the writing of this paper, the rover had completed over 200 Sols of Mars surface operations in the Gale Crater landing site (4.5 degrees South latitude). This paper describes the thermal performance of the MSL Rover during the early part of its two Earth-0.year (670 Sols) prime surface mission. Curiosity landed in Gale Crater during early Spring (Solar longitude=151) in the Southern Hemisphere of Mars. This paper discusses the thermal performance of the rover from landing day (Sol 0) through Summer Solstice (Sol 197) and out to Sol 204. The rover surface thermal design performance was very close to pre-landing predictions. The very successful thermal design allowed a high level of operational power dissipation immediately after landing without overheating and required a minimal amount of survival heating. Early morning operations of cameras and actuators were aided by successful heating activities. MSL rover surface operations thermal experiences are discussed in this paper. Conclusions about the rover surface operations thermal performance are also presented.

Lunar Exploration and Science in ESA

NASA Astrophysics Data System (ADS)

Carpenter, James; Houdou, Bérengère; Fisackerly, Richard; De Rosa, Diego; Patti, Bernardo; Schiemann, Jens; Hufenbach, Bernhard; Foing, Bernard

2015-04-01

ESA seeks to provide Europe with access to the lunar surface, and allow Europeans to benefit from the opening up of this new frontier, as part of a global endeavor. This will be best achieved through an exploration programme which combines the strengths and capabilities of both robotic and human explorers. ESA is preparing for future participation in lunar exploration through a combination of human and robotic activities, in cooperation with international partners. Future planned activities include the contribution of key technological capabilities to the Russian led robotic missions, Luna-Glob, Luna-Resurs orbiter and Luna-Resurs lander. For the Luna-Resurs lander ESA will provide analytical capabilities to compliment the Russian led science payload, focusing on developing an characterising the resource opportunities offered at the lunar surface. This should be followed by the contributions at the level of mission elements to a Lunar Polar Sample Return mission. These robotic activities are being performed with a view to enabling a future more comprehensive programme in which robotic and human activities are integrated to provide the maximum benefits from lunar surface access. Activities on the ISS and ESA participation to the US led Multi-Purpose Crew Vehicle, which is planned for a first unmanned lunar flight in 2017, are also important steps towards achieving this. In the frame of a broader future international programme under discussion through the International Space Exploration Coordination Group (ISECG) future missions are under investigation that would provide access to the lunar surface through international cooperation and human-robotic partnerships.

Integrated optimization of planetary rover layout and exploration routes

NASA Astrophysics Data System (ADS)

Lee, Dongoo; Ahn, Jaemyung

2018-01-01

This article introduces an optimization framework for the integrated design of a planetary surface rover and its exploration route that is applicable to the initial phase of a planetary exploration campaign composed of multiple surface missions. The scientific capability and the mobility of a rover are modelled as functions of the science weight fraction, a key parameter characterizing the rover. The proposed problem is formulated as a mixed-integer nonlinear program that maximizes the sum of profits obtained through a planetary surface exploration mission by simultaneously determining the science weight fraction of the rover, the sites to visit and their visiting sequences under resource consumption constraints imposed on each route and collectively on a mission. A solution procedure for the proposed problem composed of two loops (the outer loop and the inner loop) is developed. The results of test cases demonstrating the effectiveness of the proposed framework are presented.

ExoMars Lander Radioscience LaRa, a Space Geodesy Experiment to Mars.

NASA Astrophysics Data System (ADS)

Dehant, V.; Le Maistre, S.; Baland, R. M.; Yseboodt, M.; Peters, M. J.; Karatekin, O.; Rivoldini, A.; Van Hoolst, T.

2017-09-01

The LaRa (Lander Radioscience) experiment is designed to obtain coherent two-way Doppler measurements from the radio link between the ExoMars lander and Earth over at least one Martian year. The Doppler measurements will be used to observe the orientation and rotation of Mars in space (precession, nutations, and length-of-day variations), as well as polar motion. The ultimate objective is to obtain information / constraints on the Martian interior, and on the sublimation / condensation cycle of atmospheric CO2. Rotational variations will allow us to constrain the moment of inertia of the entire planet, including its mantle and core, the moment of inertia of the core, and seasonal mass transfer between the atmosphere and the ice caps.

Analysis of Fully Polarimetric Laboratory Measurements Performed with the WISDOM Radar

NASA Astrophysics Data System (ADS)

Plettemeier, D.; Ciarletti, V.; Cais, P.; Benedix, W.-S.; Zhang, H.; Hamran, S.-E.; Clifford, S.

2012-04-01

The Ground Penetrating Radar WISDOM (Water Ice Subsurface Deposit Observation on Mars) is one of the instruments selected to be part of the Pasteur payload of ESA's ExoMars Rover mission. The main scientific objectives of the Pasteur payload are to search for evidence of past and present life on Mars and to characterize the nature of the shallow subsurface. WISDOM is capable to obtain subsurface information along the rover path and to explore the first 3 meters of the soil with a vertical resolution of a few centimeters. WISDOM will help identify the location of sedimentary layers, where organic molecules are most likely to be found. By investigating geometry, location and properties of buried reflectors, WISDOM will contribute to the understanding of the 3D geological structure, electromagnetic nature, and, possibly, the state of water and ice in the shallow subsurface. WISDOM measurements will be performed 1) by conducting periodic soundings along the Rover traverse, which will provide a coarse, non-uniform, but positionally well-determined investigation of the landing site and 2) by selected high-resolution surveys of areas of strong scientific interest, which are identified for potential investigation and sampling by the Rover's drill. Such surveys will generally be conducted by acquiring a number of closely spaced parallel profiles. Supported by specific hardware features, like the arrangement of the fully polarimetric antenna system, an interpolated 3-D subsurface map of the local stratigraphy can be constructed from these radar measurements. Laboratory measurements are performed on a planar scanner in the anechoic chamber to simulate the closely spaced parallel profiles of selected high-resolution surveys. To characterize the performance of the radar and to be able to analyze the influence of radiation coupling effects between the rover and the antennas, the fully polarimetric WISDOM antenna system was mounted on a simple rover-like mockup. Calibration

Mobility performance analysis of an innovation lunar rover with diameter-variable wheel

NASA Astrophysics Data System (ADS)

Sun, Gang; Gao, Feng; Sun, Peng; Xu, Guoyan

2007-11-01

To achieve excellent mobility performance, a four-wheel, all-wheel drive lunar rover with diameter-variable wheel was presented, the wheel can be contracted and extended by the motor equipped in the wheel hub, accompanied with wheel diameter varying from 200mm to 390mm. The wheel sinkage and drawbar pull force were predicated with terramechanics formulae and lunar regolith mechanic parameters employed, furthermore, the slope traversability was investigated through quasi-static modeling mechanic analysis, also the obstacle resistance and the maximum negotiable obstacle height for different wheel radius were derived from the equations of static equilibrium of the rover. Analysis results show that for the innovation lunar rover presented, it will bring much better slope traveling stability and obstacle climbing capability than rovers with normal wheels, these will improve the rover mobility performance and stabilize the rover's frame, smooth the motion of sensors.

Activity Planning for the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Bresina, John L.; Jonsson, Ari K.; Morris, Paul H.; Rajan, Kanna

2004-01-01

Operating the Mars Exploration Rovers is a challenging, time-pressured task. Each day, the operations team must generate a new plan describing the rover activities for the next day. These plans must abide by resource limitations, safety rules, and temporal constraints. The objective is to achieve as much science as possible, choosing from a set of observation requests that oversubscribe rover resources. In order to accomplish this objective, given the short amount of planning time available, the MAPGEN (Mixed-initiative Activity Plan GENerator) system was made a mission-critical part of the ground operations system. MAPGEN is a mixed-initiative system that employs automated constraint-based planning, scheduling, and temporal reasoning to assist operations staff in generating the daily activity plans. This paper describes the adaptation of constraint-based planning and temporal reasoning to a mixed-initiative setting and the key technical solutions developed for the mission deployment of MAPGEN.

NASA and ESA Collaboration on Hexavalent Chrome Free Coatings

NASA Technical Reports Server (NTRS)

Greene, Brian

2017-01-01

Presentation on the NASA and ESA Collaboration on Hexavalent Chrome Free Coatings project. Project is in response to a Memorandum of Understanding between NASA and ESA Concerning Cooperation in the Field of Space Transportation - signed September 11, 2009. The National Aeronautics and Space Administration (NASA) and the European Space Agency (ESA) have expressed mutual interest in pursuing cooperation in the areas of evaluating hexavalent chrome-free coatings, environmentally-preferable coatings for maintenance of launch facilities and ground support equipment, citric acid as an alternative to nitric acid for passivation of stainless steel alloys.

The Athena Mars Rover Investigation

NASA Technical Reports Server (NTRS)

Squyres, S. W.; Arvidson, R. E.; Bell, J. F., III; Carr, M.; Christensen, P.; DesMarais, D.; Economou, T.; Gorevan, S.; Haskin, L.; Herkenhoff, K.

2000-01-01

The Mars Surveyor program requires tools for martian surface exploration, including remote sensing, in-situ sensing, and sample collection. The Athena Mars rover payload is a suite of scientific instruments and sample collection tools designed to: (1) Provide color stereo imaging of martian surface environments, and remotely-sensed point discrimination of mineralogical composition; (2) Determine the elemental and mineralogical composition of martian surface materials; (3) Determine the fine-scale textural properties of these materials; and (4) Collect and store samples. The Athena payload is designed to be implemented on a long-range rover such as the one now under consideration for the 2003 Mars opportunity. The payload is at a high state of maturity, and most of the instruments have now been built for flight.

Rover and Telerobotics Technology Program

NASA Technical Reports Server (NTRS)

Weisbin, Charles R.

1998-01-01

The Jet Propulsion Laboratory's (JPL's) Rover and Telerobotics Technology Program, sponsored by the National Aeronautics and Space Administration (NASA), responds to opportunities presented by NASA space missions and systems, and seeds commerical applications of the emerging robotics technology. The scope of the JPL Rover and Telerobotics Technology Program comprises three major segments of activity: NASA robotic systems for planetary exploration, robotic technology and terrestrial spin-offs, and technology for non-NASA sponsors. Significant technical achievements have been reached in each of these areas, including complete telerobotic system prototypes that have built and tested in realistic scenarios relevant to prospective users. In addition, the program has conducted complementary basic research and created innovative technology and terrestrial applications, as well as enabled a variety of commercial spin-offs.

Detecting and characterizing ice units with the WISDOM Radar

NASA Astrophysics Data System (ADS)

Ciarletti, V.; Plettemeier, D.; Dorizon, S.; Clifford, S. M.; Biancheri-Astier, M.; Dechambre, M.; Saintenoy, A. C.; Costard, F.

2012-12-01

The WISDOM (Water Ice Subsurface Deposit Observation on Mars) Ground Penetrating Radar (GPR) is one of the instruments that have been selected as part of the Pasteur payload of ESA's 2018 ExoMars Rover mission. WISDOM main objectives are to understand the geology and evolution of the landing site and to help identifying locations in the shallow subsurface where organic molecules are the most likely to be found and well-preserved. In the context of the ExoMars mission, the importance of the WISDOM GPR is particularly enhanced by its ability to investigate the distribution and state of subsurface water - both as a liquid and as ice. For example, within the diurnally active thermal layer of the subsurface (i.e., the top ~15 - 25 cm), the transient melting and freezing of subsurface ice and brine may be detectable by comparing day- and night-time radar observations at the same location. Moreover, while the biological significance of liquid water on Mars is obvious, a more readily accessible and enduring record of biological activity may be organic biomarkers preserved in subsurface ice. Unfortunately, the dielectric contrast between rock, soil and ice is small, and therefore, differentiating between mixtures of ice-rich and ice-poor regolith in the Martian subsurface is an extraordinarily difficult task. Preliminary tests in both natural (glacier in the Alps and caves in Austria) and artificial (cold chamber) icy environments have been performed with a prototype representative of the WISDOM instrument flight model. These investigations have demonstrated WISDOM's ability to detect and characterize subsurface ice in various forms. Specific examples will be discussed that demonstrate the instrument's depth of sounding, dielectric sensitivity, spatial resolution, full polarimetric and 3-D capability.

NASA to Launch Mars Rover in 2020 Artist Concept

NASA Image and Video Library

2016-07-14

NASA's Mars 2020 Project will re-use the basic engineering of NASA's Mars Science Laboratory/Curiosity to send a different rover to Mars, with new objectives and instruments. This artist's concept depicts the top of the 2020 rover's mast. http://photojournal.jpl.nasa.gov/catalog/PIA20760

Using RSVP for analyzing state and previous activities for the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Cooper, Brian K.; Hartman, Frank; Maxwell, Scott; Wright, John; Yen, Jeng

2004-01-01

Current developments in immersive environments for mission planning include several tools which make up a system for performing and rehearsing missions. This system, known as the Rover Sequencing and Visualization Program (RSVP), includes tools for planning long range sorties for highly autonomous rovers, tools for planning operations with robotic arms, and advanced tools for visualizing telemetry from remote spacecraft and landers. One of the keys to successful planning of rover activities is knowing what the rover has accomplished to date and understanding the current rover state. RSVP builds on the lessons learned and the heritage of the Mars Pathfinder mission This paper will discuss the tools and methodologies present in the RSVP suite for examining rover state, reviewing previous activities, visually comparing telemetered results to rehearsed results, and reviewing science and engineering imagery. In addition we will present how this tool suite was used on the Mars Exploration Rovers (MER) project to explore the surface of Mars.

Device for Lowering Mars Science Laboratory Rover to the Surface

NASA Technical Reports Server (NTRS)

2008-01-01

This is hardware for controlling the final lowering of NASA's Mars Science Laboratory rover to the surface of Mars from the spacecraft's hovering, rocket-powered descent stage.

The photo shows the bridle device assembly, which is about two-thirds of a meter, or 2 feet, from end to end, and has two main parts. The cylinder on the left is the descent brake. On the right is the bridle assembly, including a spool of nylon and Vectran cords that will be attached to the rover.

When pyrotechnic bolts fire to sever the rigid connection between the rover and the descent stage, gravity will pull the tethered rover away from the descent stage. The bridle or tether, attached to three points on the rover, will unspool from the bridle assembly, beginning from the larger-diameter portion of the spool at far right. The rotation rate of the assembly, hence the descent rate of the rover, will be governed by the descent brake. Inside the housing of that brake are gear boxes and banks of mechanical resistors engineered to prevent the bridle from spooling out too quickly or too slowly. The length of the bridle will allow the rover to be lowered about 7.5 meters (25 feet) while still tethered to the descent stage.

The Starsys division of SpaceDev Inc., Poway, Calif., provided the descent brake. NASA's Jet Propulsion Laboratory, Pasadena, Calif., built the bridle assembly. Vectran is a product of Kuraray Co. Ltd., Tokyo. JPL, a division of the California Institute of Technology, manages the Mars Science Laboratory Project for the NASA Science Mission Directorate, Washington.

Development of "Remotely Operated Vehicles for Education and Research" (ROVERs)

NASA Astrophysics Data System (ADS)

Gaines, J. E.; Bland, G.; Bydlowski, D.

2017-12-01

The University of South Florida is a team member for the AREN project which develops educational technologies for data acquisition. "Remotely Operated Vehicles for Education and Research" (ROVERs) are floatable data acquisition systems used for Earth science measurements. The USF partnership was productive in the first year, resulting in new autonomous ROVER platforms being developed and used during a 5 week STEM summer camp by middle school youth. ROVERs were outfitted with GPS and temperature sensors and programmed to move forward, backwards, and to turn autonomously using the National Instruments myRIO embedded system. GLOBE protocols were used to collect data. The outreach program's structure lended itself to accomplishing an essential development effort for the AREN project towards the use of the ROVER platform in informal educational settings. A primary objective of the partnership is curriculum development to integrate GLOBE protocols and NASA technology and hardware/ROVER development wher new ROVER platforms are explored. The USF partnership resulted in two design prototypes for ROVERs, both of which can be created from recyclable materials for flotation and either 3D printed or laser cut components. In addition, both use the National Instruments myRIO for autonomous control. We will present two prototypes designed for use during the USF outreach program, the structure of the program, and details on the fabrication of prototype Z during the program by middle school students. Considering the 5-year objective of the AREN project is to "develop approaches, learning plans, and specific tools that can be affordably implemented nationwide (globally)", the USF partnership is key as it contributes to each part of the objective in a unique and impactful way.

2D/3D Visual Tracker for Rover Mast

NASA Technical Reports Server (NTRS)

Bajracharya, Max; Madison, Richard W.; Nesnas, Issa A.; Bandari, Esfandiar; Kunz, Clayton; Deans, Matt; Bualat, Maria

2006-01-01

A visual-tracker computer program controls an articulated mast on a Mars rover to keep a designated feature (a target) in view while the rover drives toward the target, avoiding obstacles. Several prior visual-tracker programs have been tested on rover platforms; most require very small and well-estimated motion between consecutive image frames a requirement that is not realistic for a rover on rough terrain. The present visual-tracker program is designed to handle large image motions that lead to significant changes in feature geometry and photometry between frames. When a point is selected in one of the images acquired from stereoscopic cameras on the mast, a stereo triangulation algorithm computes a three-dimensional (3D) location for the target. As the rover moves, its body-mounted cameras feed images to a visual-odometry algorithm, which tracks two-dimensional (2D) corner features and computes their old and new 3D locations. The algorithm rejects points, the 3D motions of which are inconsistent with a rigid-world constraint, and then computes the apparent change in the rover pose (i.e., translation and rotation). The mast pan and tilt angles needed to keep the target centered in the field-of-view of the cameras (thereby minimizing the area over which the 2D-tracking algorithm must operate) are computed from the estimated change in the rover pose, the 3D position of the target feature, and a model of kinematics of the mast. If the motion between the consecutive frames is still large (i.e., 3D tracking was unsuccessful), an adaptive view-based matching technique is applied to the new image. This technique uses correlation-based template matching, in which a feature template is scaled by the ratio between the depth in the original template and the depth of pixels in the new image. This is repeated over the entire search window and the best correlation results indicate the appropriate match. The program could be a core for building application programs for systems

The Challenges in Applying Magnetroesistive Sensors on the 'Curiosity' Rover

NASA Technical Reports Server (NTRS)

Johnson, Michael R.

2013-01-01

Magnetoresistive Sensors were selected for use on the motor encoders throughout the Curiosity Rover for motor position feedback devices. The Rover contains 28 acuators with a corresponding number of encoder assemblies. The environment on Mars provides opportunities for challenges to any hardware design. The encoder assemblies presented several barriers that had to be vaulted in order to say the rover was ready to fly. The environment and encoder specific design features provided challenges that had to be solved in time to fly.

Robotic Lunar Rover Technologies and SEI Supporting Technologies at Sandia National Laboratories

NASA Technical Reports Server (NTRS)

Klarer, Paul R.

1992-01-01

Existing robotic rover technologies at Sandia National Laboratories (SNL) can be applied toward the realization of a robotic lunar rover mission in the near term. Recent activities at the SNL-RVR have demonstrated the utility of existing rover technologies for performing remote field geology tasks similar to those envisioned on a robotic lunar rover mission. Specific technologies demonstrated include low-data-rate teleoperation, multivehicle control, remote site and sample inspection, standard bandwidth stereo vision, and autonomous path following based on both internal dead reckoning and an external position location update system. These activities serve to support the use of robotic rovers for an early return to the lunar surface by demonstrating capabilities that are attainable with off-the-shelf technology and existing control techniques. The breadth of technical activities at SNL provides many supporting technology areas for robotic rover development. These range from core competency areas and microsensor fabrication facilities, to actual space qualification of flight components that are designed and fabricated in-house.

A Real-Time Rover Executive based On Model-Based Reactive Planning

NASA Technical Reports Server (NTRS)

Bias, M. Bernardine; Lemai, Solange; Muscettola, Nicola; Korsmeyer, David (Technical Monitor)

2003-01-01

This paper reports on the experimental verification of the ability of IDEA (Intelligent Distributed Execution Architecture) effectively operate at multiple levels of abstraction in an autonomous control system. The basic hypothesis of IDEA is that a large control system can be structured as a collection of interacting control agents, each organized around the same fundamental structure. Two IDEA agents, a system-level agent and a mission-level agent, are designed and implemented to autonomously control the K9 rover in real-time. The system is evaluated in the scenario where the rover must acquire images from a specified set of locations. The IDEA agents are responsible for enabling the rover to achieve its goals while monitoring the execution and safety of the rover and recovering from dangerous states when necessary. Experiments carried out both in simulation and on the physical rover, produced highly promising results.

Deployment Process, Mechanization, and Testing for the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Iskenderian, Ted

2004-01-01

NASA's Mar Exploration Rover (MER) robotic prospectors were produced in an environment of unusually challenging schedule, volume, and mass restrictions. The technical challenges pushed the system s design towards extensive integration of function, which resulted in complex system engineering issues. One example of the system's integrated complexity can be found in the deployment process for the rover. Part of this process, rover "standup", is outlined in this paper. Particular attention is given to the Rover Lift Mechanism's (RLM) role and its design. Analysis methods are presented and compared to test results. It is shown that because prudent design principles were followed, a robust mechanism was created that minimized the duration of integration and test, and enabled recovery without perturbing related systems when reasonably foreseeable problems did occur. Examples of avoidable, unnecessary difficulty are also presented.

Drill Bit Tip on Mars Rover Curiosity, Side View

NASA Image and Video Library

2013-02-04

The shape of the tip of the bit in the drill of NASA Mars rover Curiosity is apparent in this view recorded by the remote micro-imager in the rover ChemCam instrument on Mars. Jan. 29, 2012; the bit is about 0.6 inch 1.6 centimeters wide.

Overview on grating developments at ESA

NASA Astrophysics Data System (ADS)

Guldimann, B.; Deep, A.; Vink, R.; Harnisch, B.; Kraft, S.; Sierk, B.; Bazalgette, G.; Bézy, J.-L.

2017-11-01

In the frame of recent studies and missions, ESA has been performing various pre-developments of optical gratings for instruments operating at wavelengths from the UV up to the SWIR. The instrument requirements of Sentinel-4, Sentinel-5, CarbonSat and FLEX are driving the need for advanced designs and technologies leading to gratings with high efficiency, high spectral resolution, low stray light and low polarization sensitivities. Typical ESA instruments (e.g. Sciamachy, GOME, MERIS, OLCI, NIRSpec) were and are based on ruled gratings or gratings manufactured with one holographic photoresist mask layer which is transferred to an optical substrate (e.g. glass, glass ceramic) with dry etching methods and subsequently either coated with a reflective coating or used as a mold for replication. These manufacturing methods lead to blazed grating profiles with a metallic reflective surface. The vast majority of spectrometers on ground are still based on such gratings. In general, gratings based on grooved metallic surfaces tend for instance to polarize the incoming light significantly and are therefore not always suitable for ESA's needs of today. Gratings made for space therefore evolved to many other designs and concepts which will be reported in this paper.

Lunar rover technology demonstrations with Dante and Ratler

NASA Technical Reports Server (NTRS)

Krotkov, Eric; Bares, John; Katragadda, Lalitesh; Simmons, Reid; Whittaker, Red

1994-01-01

Carnegie Mellon University has undertaken a research, development, and demonstration program to enable a robotic lunar mission. The two-year mission scenario is to traverse 1,000 kilometers, revisiting the historic sites of Apollo 11, Surveyor 5, Ranger 8, Apollo 17, and Lunokhod 2, and to return continuous live video amounting to more than 11 terabytes of data. Our vision blends autonomously safeguarded user driving with autonomous operation augmented with rich visual feedback, in order to enable facile interaction and exploration. The resulting experience is intended to attract mass participation and evoke strong public interest in lunar exploration. The encompassing program that forwards this work is the Lunar Rover Initiative (LRI). Two concrete technology demonstration projects currently advancing the Lunar Rover Initiative are: (1) The Dante/Mt. Spurr project, which, at the time of this writing, is sending the walking robot Dante to explore the Mt. Spurr volcano, in rough terrain that is a realistic planetary analogue. This project will generate insights into robot system robustness in harsh environments, and into remote operation by novices; and (2) The Lunar Rover Demonstration project, which is developing and evaluating key technologies for navigation, teleoperation, and user interfaces in terrestrial demonstrations. The project timetable calls for a number of terrestrial traverses incorporating teleoperation and autonomy including natural terrain this year, 10 km in 1995. and 100 km in 1996. This paper will discuss the goals of the Lunar Rover Initiative and then focus on the present state of the Dante/Mt. Spurr and Lunar Rover Demonstration projects.

ESA is now a major player in global space science

NASA Astrophysics Data System (ADS)

1997-07-01

* Results from the star-fixing satellite Hipparcos, released this summer to the world's astronomers, give the positions and motions of 118,000 stars a hundred times more accurately than ever before. * Every day the Infrared Space Observatory, ISO, examines 45 cosmic objects on average at many different wavelengths never observable before, giving fresh insights into cosmic history and chemistry. * Invaluable new knowledge of the Sun comes from SOHO, the Solar and Heliospheric Observatory, which is the first spacecraft able to observe the Sun's deep interior as well as its stormy surface and atmosphere. Besides these missions making present headlines, several other spacecraft are helping to fulfil ESA's scientific objectives. * 2 - * The launch in October 1997 of ESA's probe Huygens, aboard the Cassini spacecraft bound for Saturn, foreshadows a breakthrough in planetary science in 2004. That is when Huygens will carry its scientific instruments into the unique and puzzling atmosphere of Saturn's moon Titan. * Ulysses, also built in Europe, is exploring hitherto unknown regions of space, after making the first-ever visit to the Sun's polar regions in 1994-95. It will return to the Sun in 2000-2001, to observe the effects of the climax of solar activity due at that time. * The Cluster 2 mission, announced in April 1997 and to be launched in 2000, will explore the Earth's space environment far more throughly than ever before. ESA's decision to replace the four Cluster satellites lost in a launch accident in 1996 ensures that Europe will continue as the leader in solar-terrestrial research in space. * An example of the three unique 58-mirror X-ray telescopes for the XMM mission was unveiled for the press in May 1997. When it goes into orbit in 1999 XMM will make, in seconds, observations of cosmic objects that took hours with previous X-ray astronomy missions. * The Hubble Space Telescope, in which ESA is a partner, continues to deliver the sharpest pictures of the

Mars Exploration Rover Heat Shield Recontact Analysis

NASA Technical Reports Server (NTRS)

Raiszadeh, Behzad; Desai, Prasun N.; Michelltree, Robert

2011-01-01

The twin Mars Exploration Rover missions landed successfully on Mars surface in January of 2004. Both missions used a parachute system to slow the rover s descent rate from supersonic to subsonic speeds. Shortly after parachute deployment, the heat shield, which protected the rover during the hypersonic entry phase of the mission, was jettisoned using push-off springs. Mission designers were concerned about the heat shield recontacting the lander after separation, so a separation analysis was conducted to quantify risks. This analysis was used to choose a proper heat shield ballast mass to ensure successful separation with low probability of recontact. This paper presents the details of such an analysis, its assumptions, and the results. During both landings, the radar was able to lock on to the heat shield, measuring its distance, as it descended away from the lander. This data is presented and is used to validate the heat shield separation/recontact analysis.

Mars Science Laboratory Rover Closeout

NASA Image and Video Library

2011-11-10

The Mars Science Laboratory mission rover, Curiosity, is prepared for final integration into the complete NASA spacecraft in this photograph taken inside the Payload Hazardous Servicing Facility at NASA Kennedy Space Center, Fla.

Mars Rover Step Toward Possible Resumption of Drilling

NASA Image and Video Library

2017-10-23

NASA's Curiosity Mars rover conducted a test on Oct. 17, 2017, as part of the rover team's development of a new way to use the rover's drill. This image from Curiosity's front Hazard Avoidance Camera (Hazcam) shows the drill's bit touching the ground during an assessment of measurements by a sensor on the rover's robotic arm. Curiosity used its drill to acquire sample material from Martian rocks 15 times from 2013 to 2016. In December 2016, the drill's feed mechanism stopped working reliably. During the test shown in this image, the rover touched the drill bit to the ground for the first time in 10 months. The image has been adjusted to brighten shaded areas so that the bit is more evident. The date was the 1,848th Martian day, or sol, of Curiosity's work on Mars In drill use prior to December 2016, two contact posts -- the stabilizers on either side of the bit -- were placed on the target rock while the bit was in a withdrawn position. Then the motorized feed mechanism within the drill extended the bit forward, and the bit's rotation and percussion actions penetrated the rock. A promising alternative now under development and testing -- called feed-extended drilling -- uses motion of the robotic arm to directly advance the extended bit into a rock. In this image, the bit is touching the ground but the stabilizers are not. In the Sol 1848 activity, Curiosity pressed the drill bit downward, and then applied smaller sideways forces while taking measurements with a force/torque sensor on the arm. The objective was to gain understanding about how readings from the sensor can be used during drilling to adjust for any sideways pressure that might risk the bit becoming stuck in a rock. While rover-team engineers are working on an alternative drilling method, the mission continues to examine sites on Mount Sharp, Mars, with other tools. https://photojournal.jpl.nasa.gov/catalog/PIA22063

A Comparison of Two Path Planners for Planetary Rovers

NASA Technical Reports Server (NTRS)

Tarokh, M.; Shiller, Z.; Hayati, S.

1999-01-01

The paper presents two path planners suitable for planetary rovers. The first is based on fuzzy description of the terrain, and genetic algorithm to find a traversable path in a rugged terrain. The second planner uses a global optimization method with a cost function that is the path distance divided by the velocity limit obtained from the consideration of the rover static and dynamic stability. A description of both methods is provided, and the results of paths produced are given which show the effectiveness of the path planners in finding near optimal paths. The features of the methods and their suitability and application for rover path planning are compared

ExoGeoLab Pilot Project for Landers, Rovers and Instruments

NASA Astrophysics Data System (ADS)

Foing, Bernard

2010-05-01

We have developed a pilot facility with a Robotic Test Bench (ExoGeoLab) and a Mobile Lab Habitat (ExoHab). They can be used to validate concepts and external instruments from partner institutes. The ExoGeoLab research incubator project, has started in the frame of a collaboration between ILEWG (International Lunar Exploration working Group http://sci.esa.int/ilewg), ESTEC, NASA and academic partners, supported by a design and control desk in the European Space Incubator (ESI), as well as infrastructure. ExoGeoLab includes a sequence of technology and research pilot project activities: - Data analysis and interpretation of remote sensing and in-situ data, and merging of multi-scale data sets - Procurement and integration of geophysical, geo-chemical and astrobiological breadboard instruments on a surface station and rovers - Integration of cameras, environment and solar sensors, Visible and near IR spectrometer, Raman spectrometer, sample handling, cooperative rovers - Delivery of a generic small planetary lander demonstrator (ExoGeoLab lander, Sept 2009) as a platform for multi-instruments tests - Research operations and exploitation of ExoGeoLab test bench for various conceptual configurations, and support for definition and design of science surface packages (Moon, Mars, NEOs, outer moons) - Field tests of lander, rovers and instruments in analogue sites (Utah MDRS 2009 & 2010, Eifel volcanic park in Sept 2009, and future campaigns). Co-authors, ILEWG ExoGeoLab & ExoHab Team: B.H. Foing(1,11)*#, C. Stoker(2,11)*, P. Ehrenfreund(10,11), L. Boche-Sauvan(1,11)*, L. Wendt(8)*, C. Gross(8, 11)*, C. Thiel(9)*, S. Peters(1,6)*, A. Borst(1,6)*, J. Zavaleta(2)*, P. Sarrazin(2)*, D. Blake(2), J. Page(1,4,11), V. Pletser(5,11)*, E. Monaghan(1)*, P. Mahapatra(1)#, A. Noroozi(3), P. Giannopoulos(1,11) , A. Calzada(1,6,11), R. Walker(7), T. Zegers(1, 15) #, G. Groemer(12)# , W. Stumptner(12)#, B. Foing(2,5), J. K. Blom(3)#, A. Perrin(14)#, M. Mikolajczak(14)#, S. Chevrier(14

Rover Panorama Taken Amid Murray Buttes on Mars

NASA Image and Video Library

2016-10-03

Original Caption Released with Image: This 360-degree panorama was acquired by the Mast Camera (Mastcam) on NASA's Curiosity Mars rover while the rover was in an area called "Murray Buttes" on lower Mount Sharp, one of the most scenic landscapes yet visited by any Mars rover. The view stitches together many individual images taken by Mastcam's left-eye camera on Sept. 4, 2016, during the 1,451st Martian day, or sol, of the mission. North is at both ends and south is in the center. The rover's location when it recorded this scene was the site it reached in its Sol 1448 drive. (See map at http://mars.nasa.gov/msl/multimedia/images/?ImageID=8015.) The dark, flat-topped mesa near the center of the scene rises to about 39 feet (about 12 meters) above the surrounding plain. From the rover's position, the top of this mesa is about 131 feet (about 40 meters) away, and the beginning of the debris apron at the base of the mesa is about 98 feet (about 30 meters) away. In the left half of the image, the dark butte that appears largest sits eastward from the rover and about 33 feet (about 10 meters) high. From the rover's position, the top of this butte is about 85 feet (about 26 meters) away, and the beginning of the debris apron at its base is about 33 feet (about 10 meters) away. An upper portion of Mount Sharp appears on the horizon to the right of it. The relatively flat foreground is part of a geological layer called the Murray formation, which includes lakebed mud deposits. The buttes and mesas rising above this surface are eroded remnants of ancient sandstone that originated when winds deposited sand after lower Mount Sharp had formed. They are capped by material that is relatively resistant to erosion, just as is the case with many similarly shaped buttes and mesas on Earth. The area's informal naming honors Bruce Murray (1931-2013), a Caltech planetary scientist and director of NASA's Jet Propulsion Laboratory, Pasadena, California. The scene is presented with a color

ESA seeks gravitational-wave proposals

NASA Astrophysics Data System (ADS)

Banks, Michael

2016-12-01

The European Space Agency (ESA) has put out a call for European scientists to submit proposals for the first space mission to observe gravitational waves - ripples in the fabric of space-time created by accelerating massive objects.

Drill Bit Tip on Mars Rover Curiosity, Head-on View

NASA Image and Video Library

2013-02-04

This head-on view shows the tip of the drill bit on NASA Mars rover Curiosity. The view merges two exposures taken by the remote micro-imager in the rover ChemCam instrument at different focus settings.

Lunar Surface Scenarios: Habitation and Life Support Systems for a Pressurized Rover

NASA Technical Reports Server (NTRS)

Anderson, Molly; Hanford, Anthony; Howard, Robert; Toups, Larry

2006-01-01

Pressurized rovers will be a critical component of successful lunar exploration to enable safe investigation of sites distant from the outpost location. A pressurized rover is a complex system with the same functions as any other crewed vehicle. Designs for a pressurized rover need to take into account significant constraints, a multitude of tasks to be performed inside and out, and the complexity of life support systems to support the crew. In future studies, pressurized rovers should be given the same level of consideration as any other vehicle occupied by the crew.

Shark as viewed by Sojourner Rover

NASA Technical Reports Server (NTRS)

1998-01-01

This close-up image of Shark, in the Bookshelf at the back of the Rock Garden, was taken by Sojourner Rover on Sol 75. Also in the image are Half Dome (right) and Desert Princess (lower right). At the bottom left, a thin 'crusty' soil layer has been disturbed by the rover wheels.

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is a division of the California Institute of Technology (Caltech).

Mars 2020 Rover SHERLOC Calibration Target

NASA Technical Reports Server (NTRS)

Graff, Trevor; Fries, Marc; Burton, Aaron; Ross, Amy; Larson, Kristine; Garrison, Dan; Calaway, Mike; Tran, Vinh; Bhartia, Roh; Beegle, Luther

2016-01-01

The Scanning Habitable Environments with Raman & Luminescence for Organics & Chemicals (SHERLOC) instrument is a deep ultraviolet (UV) Raman Fluorescence instrument selected as part of the Mars 2020 rover instrument suite. SHERLOC will be mounted on the rover arm and its primary role is to identify carbonaceous species in martian samples. The SHERLOC instrument requires a calibration target which is being designed and fabricated at JSC as part of our continued science participation in Mars robotic missions. The SHERLOC calibration target will address a wide range of NASA goals to include basic science of interest to both the Science Mission Directorate and Human Exploration and Operations Mission Directorate.

Mars pathfinder Rover egress deployable ramp assembly

NASA Technical Reports Server (NTRS)

Spence, Brian R.; Sword, Lee F.

1996-01-01

The Mars Pathfinder Program is a NASA Discovery Mission, led by the Jet Propulsion Laboratory, to launch and place a small planetary Rover for exploration on the Martian surface. To enable safe and successful egress of the Rover vehicle from the spacecraft, a pair of flight-qualified, deployable ramp assemblies have been developed. This paper focuses on the unique, lightweight deployable ramp assemblies. A brief mission overview and key design requirements are discussed. Design and development activities leading to qualification and flight systems are presented.

Mars Exploration Rover surface operations: driving opportunity at Meridiani Planum

NASA Technical Reports Server (NTRS)

Biesiadecki, Jeffrey J.; Baumgartner, E.; Bonitz, R.; Cooper, B.; Hartman, F.; Leger, C.; Maimone, M.; Maxwell, S.; Trebi-Ollenu, A.; Wright, J.

2005-01-01

This paper will detail the experience of driving Opportunity through this alien landscape from the point of view of the Rover Planners, the people who tell the rover where to drive and how to use its robotic arm.

Preparing for Solar and Thermal Testing of Curiosity Mars Rover

NASA Image and Video Library

2011-03-18

This image shows preparation for March 2011 testing of the Mars Science Laboratory rover, Curiosity, in a space-simulation chamber; the rover will go through operational sequences in environmental conditions similar to what it will experience on Mars.

Autonomously Generating Operations Sequences for a Mars Rover Using Artificial Intelligence-Based Planning

NASA Astrophysics Data System (ADS)

Sherwood, R.; Mutz, D.; Estlin, T.; Chien, S.; Backes, P.; Norris, J.; Tran, D.; Cooper, B.; Rabideau, G.; Mishkin, A.; Maxwell, S.

2001-07-01

This article discusses a proof-of-concept prototype for ground-based automatic generation of validated rover command sequences from high-level science and engineering activities. This prototype is based on ASPEN, the Automated Scheduling and Planning Environment. This artificial intelligence (AI)-based planning and scheduling system will automatically generate a command sequence that will execute within resource constraints and satisfy flight rules. An automated planning and scheduling system encodes rover design knowledge and uses search and reasoning techniques to automatically generate low-level command sequences while respecting rover operability constraints, science and engineering preferences, environmental predictions, and also adhering to hard temporal constraints. This prototype planning system has been field-tested using the Rocky 7 rover at JPL and will be field-tested on more complex rovers to prove its effectiveness before transferring the technology to flight operations for an upcoming NASA mission. Enabling goal-driven commanding of planetary rovers greatly reduces the requirements for highly skilled rover engineering personnel. This in turn greatly reduces mission operations costs. In addition, goal-driven commanding permits a faster response to changes in rover state (e.g., faults) or science discoveries by removing the time-consuming manual sequence validation process, allowing rapid "what-if" analyses, and thus reducing overall cycle times.

The ESA contribution to the European Satellite Navigation Programme

NASA Astrophysics Data System (ADS)

Lucas, R.; Lo Galbo, P.; de Mateo, M. L.; Steciw, A.; Ashford, E.

1996-02-01

This paper describes the ESA ARTES-9 programme on Global Navigation Satellite Systems (GNSS). This programme will be the ESA contribution to the wider European Satellite Navigation Programme which is to be implemented as a joint effort of the European Union, Eurocontrol and ESA with the support of other European bodies such as telecommunication operators, national civil aviation authorities, national space agencies, industry, universities and R&D institutes in general. In fact, in view of the geographical area concerned, the large number of parties interested, the experience required and the global nature of GNSS, the proposed initiative can only be successful if based on a strong cooperation at a European and international scale. The ESA ARTES-9 programme will consist on one side, of the design, development and validation of the European complement to the GPS and GLONASS systems (GNSS1), and on the other side of the study, design and pre-development of the European contribution to follow-on systems: GNSS2.

The Athena Mars Rover Science Payload

NASA Technical Reports Server (NTRS)

Squyes, S. W.; Arvidson, R.; Bell, J. F., III; Carr, M.; Christensen, P.; DesMarais, D.; Economou, T.; Gorevan, S.; Klingelhoefer, G.; Haskin, L.

1998-01-01

The Mars Surveyor missions that will be launched in April of 2001 will include a highly capable rover that is a successor to the Mars Pathfinder mission's Sojourner rover. The design goals for this rover are a total traverse distance of at least 10 km and a total lifetime of at least one Earth year. The rover's job will be to explore a site in Mars' ancient terrain, searching for materials likely to preserve a record of ancient martian water, climate, and possibly biology. The rover will collect rock and soil samples, and will store them for return to Earth by a subsequent Mars Surveyor mission in 2005. The Athena Mars rover science payload is the suite of scientific instruments and sample collection tools that will be used to perform this job. The specific science objectives that NASA has identified for the '01 rover payload are to: (1) Provide color stereo imaging of martian surface environments, and remotely-sensed point discrimination of mineralogical composition. (2) Determine the elemental and mineralogical composition of martian surface materials. (3) Determine the fine-scale textural properties of these materials. (4) Collect and store samples. The Athena payload has been designed to meet these objectives. The focus of the design is on field operations: making sure the rover can locate, characterize, and collect scientifically important samples in a dusty, dirty, real-world environment. The topography, morphology, and mineralogy of the scene around the rover will be revealed by Pancam/Mini-TES, an integrated imager and IR spectrometer. Pancam views the surface around the rover in stereo and color. It uses two high-resolution cameras that are identical in most respects to the rover's navigation cameras. The detectors are low-power, low-mass active pixel sensors with on-chip 12-bit analog-to-digital conversion. Filters provide 8-12 color spectral bandpasses over the spectral region from 0.4 to 1.1 micron Narrow-angle optics provide an angular resolution of 0

Conceptual Design and Architecture of Mars Exploration Rover (MER) for Seismic Experiments Over Martian Surfaces

NASA Astrophysics Data System (ADS)

Garg, Akshay; Singh, Amit

2012-07-01

Keywords: MER, Mars, Rover, Seismometer Mars has been a subject of human interest for exploration missions for quite some time now. Both rover as well as orbiter missions have been employed to suit mission objectives. Rovers have been preferentially deployed for close range reconnaissance and detailed experimentation with highest accuracy. However, it is essential to strike a balance between the chosen science objectives and the rover operations as a whole. The objective of this proposed mechanism is to design a vehicle (MER) to carry out seismic studies over Martian surface. The conceptual design consists of three units i.e. Mother Rover as a Surrogate (Carrier) and Baby Rovers (two) as seeders for several MEMS-based accelerometer / seismometer units (Nodes). Mother Rover can carry these Baby Rovers, having individual power supply with solar cells and with individual data transmission capabilities, to suitable sites such as Chasma associated with Valles Marineris, Craters or Sand Dunes. Mother rover deploys these rovers in two opposite direction and these rovers follow a triangulation pattern to study shock waves generated through firing tungsten carbide shells into the ground. Till the time of active experiments Mother Rover would act as a guiding unit to control spatial spread of detection instruments. After active shock experimentation, the babies can still act as passive seismometer units to study and record passive shocks from thermal quakes, impact cratering & landslides. Further other experiments / payloads (XPS / GAP / APXS) can also be carried by Mother Rover. Secondary power system consisting of batteries can also be utilized for carrying out further experiments over shallow valley surfaces. The whole arrangement is conceptually expected to increase the accuracy of measurements (through concurrent readings) and prolong life cycle of overall experimentation. The proposed rover can be customised according to the associated scientific objectives and further

Driving on the surface of Mars with the rover sequencing and visualization program

NASA Technical Reports Server (NTRS)

Wright, J.; Hartman, F.; Cooper, B.; Maxwell, S.; Yen, J.; Morrison, J.

2005-01-01

Operating a rover on Mars is not possible using teleoperations due to the distance involved and the bandwith limitations. To operate these rovers requires sophisticated tools to make operators knowledgeable of the terrain, hazards, features of interest, and rover state and limitations, and to support building command sequences and rehearsing expected operations. This paper discusses how the Rover Sequencing and Visualization program and a small set of associated tools support this requirement.

The new Planetary Science Archive: A tool for exploration and discovery of scientific datasets from ESA's planetary missions

NASA Astrophysics Data System (ADS)

Heather, David

2016-07-01

Introduction: The Planetary Science Archive (PSA) is the European Space Agency's (ESA) repository of science data from all planetary science and exploration missions. The PSA provides access to scientific datasets through various interfaces (e.g. FTP browser, Map based, Advanced search, and Machine interface): http://archives.esac.esa.int/psa All datasets are scientifically peer-reviewed by independent scientists, and are compliant with the Planetary Data System (PDS) standards. Updating the PSA: The PSA is currently implementing a number of significant changes, both to its web-based interface to the scientific community, and to its database structure. The new PSA will be up-to-date with versions 3 and 4 of the PDS standards, as PDS4 will be used for ESA's upcoming ExoMars and BepiColombo missions. The newly designed PSA homepage will provide direct access to scientific datasets via a text search for targets or missions. This will significantly reduce the complexity for users to find their data and will promote one-click access to the datasets. Additionally, the homepage will provide direct access to advanced views and searches of the datasets. Users will have direct access to documentation, information and tools that are relevant to the scientific use of the dataset, including ancillary datasets, Software Interface Specification (SIS) documents, and any tools/help that the PSA team can provide. A login mechanism will provide additional functionalities to the users to aid / ease their searches (e.g. saving queries, managing default views). Queries to the PSA database will be possible either via the homepage (for simple searches of missions or targets), or through a filter menu for more tailored queries. The filter menu will offer multiple options to search for a particular dataset or product, and will manage queries for both in-situ and remote sensing instruments. Parameters such as start-time, phase angle, and heliocentric distance will be emphasized. A further

The new Planetary Science Archive: A tool for exploration and discovery of scientific datasets from ESA's planetary missions.

NASA Astrophysics Data System (ADS)

Heather, David; Besse, Sebastien; Barbarisi, Isa; Arviset, Christophe; de Marchi, Guido; Barthelemy, Maud; Docasal, Ruben; Fraga, Diego; Grotheer, Emmanuel; Lim, Tanya; Macfarlane, Alan; Martinez, Santa; Rios, Carlos

2016-04-01

Introduction: The Planetary Science Archive (PSA) is the European Space Agency's (ESA) repository of science data from all planetary science and exploration missions. The PSA provides access to scientific datasets through various interfaces (e.g. FTP browser, Map based, Advanced search, and Machine interface): http://archives.esac.esa.int/psa All datasets are scientifically peer-reviewed by independent scientists, and are compliant with the Planetary Data System (PDS) standards. Updating the PSA: The PSA is currently implementing a number of significant changes, both to its web-based interface to the scientific community, and to its database structure. The new PSA will be up-to-date with versions 3 and 4 of the PDS standards, as PDS4 will be used for ESA's upcoming ExoMars and BepiColombo missions. The newly designed PSA homepage will provide direct access to scientific datasets via a text search for targets or missions. This will significantly reduce the complexity for users to find their data and will promote one-click access to the datasets. Additionally, the homepage will provide direct access to advanced views and searches of the datasets. Users will have direct access to documentation, information and tools that are relevant to the scientific use of the dataset, including ancillary datasets, Software Interface Specification (SIS) documents, and any tools/help that the PSA team can provide. A login mechanism will provide additional functionalities to the users to aid / ease their searches (e.g. saving queries, managing default views). Queries to the PSA database will be possible either via the homepage (for simple searches of missions or targets), or through a filter menu for more tailored queries. The filter menu will offer multiple options to search for a particular dataset or product, and will manage queries for both in-situ and remote sensing instruments. Parameters such as start-time, phase angle, and heliocentric distance will be emphasized. A further

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

NASA Technical Reports Server (NTRS)

Felder, Michael; Nesnas, Issa A.; Pivtoraiko, Mihail; Kelly, Alonzo; Volpe, Richard

2011-01-01

Exploring planetary surfaces typically involves traversing challenging and unknown terrain and acquiring in-situ measurements at designated locations using arm-mounted instruments. We present field results for a new implementation of an autonomous capability that enables a rover to traverse and precisely place an arm-mounted instrument on remote targets. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover's mast cameras. The rover then autonomously traverse the rocky terrain for a distance of 10 - 15 m, tracks the target(s) of interest during the traverse, positions itself for approaching the target, and then precisely places an arm-mounted instrument within 2-3 cm from the originally designated target. The rover proceeds to acquire science measurements with the instrument. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight thread-the-needle maneuvers. We integrated these algorithms on the newly refurbished Athena Mars research rover and fielded them in the JPL Mars Yard. We conducted 43 runs with targets at distances ranging from 5 m to 15 m and achieved a success rate of 93% for placement of the instrument within 2-3 cm.

Comparative Field Tests of Pressurised Rover Prototypes

NASA Astrophysics Data System (ADS)

Mann, G. A.; Wood, N. B.; Clarke, J. D.; Piechochinski, S.; Bamsey, M.; Laing, J. H.

The conceptual designs, interior layouts and operational performances of three pressurised rover prototypes - Aonia, ARES and Everest - were field tested during a recent simulation at the Mars Desert Research Station in Utah. A human factors experiment, in which the same crew of three executed the same simulated science mission in each of the three vehicles, yielded comparative data on the capacity of each vehicle to safely and comfortably carry explorers away from the main base, enter and exit the vehicle in spacesuits, perform science tasks in the field, and manage geological and biological samples. As well as offering recommendations for design improvements for specific vehicles, the results suggest that a conventional Sports Utility Vehicle (SUV) would not be suitable for analog field work; that a pressurised docking tunnel to the main habitat is essential; that better provisions for spacesuit storage are required; and that a crew consisting of one driver/navigator and two field science crew specialists may be optimal. From a field operations viewpoint, a recurring conflict between rover and habitat crews at the time of return to the habitat was observed. An analysis of these incidents leads to proposed refinements of operational protocols, specific crew training for rover returns and again points to the need for a pressurised docking tunnel. Sound field testing, circulating of results, and building the lessons learned into new vehicles is advocated as a way of producing ever higher fidelity rover analogues.

Pancam Imaging of the Mars Exploration Rover Landing Sites in Gusev Crater and Meridiani Planum

NASA Technical Reports Server (NTRS)

Bell, J. F., III; Squyres, S. W.; Arvidson, R. E.; Arneson, H. M.; Bass, D.; Cabrol, N.; Calvin, W.; Farmer, J.; Farrand, W. H.

2004-01-01

The Mars Exploration Rovers carry four Panoramic Camera (Pancam) instruments (two per rover) that have obtained high resolution multispectral and stereoscopic images for studies of the geology, mineralogy, and surface and atmospheric physical properties at both rover landing sites. The Pancams are also providing significant mission support measurements for the rovers, including Sun-finding for rover navigation, hazard identification and digital terrain modeling to help guide long-term rover traverse decisions, high resolution imaging to help guide the selection of in situ sampling targets, and acquisition of education and public outreach imaging products.

Joint NASA-ESA Outer Planet Mission study overview

NASA Astrophysics Data System (ADS)

Lebreton, J.-P.; Niebur, C.; Cutts, J.; Falkner, P.; Greeley, R.; Lunine, J.; Blanc, M.; Coustenis, A.; Pappalardo, R.; Matson, D.; Clark, K.; Reh, K.; Stankov, A.; Erd, C.; Beauchamp, P.

2009-04-01

In 2008, ESA and NASA performed joint studies of two highly capable scientific missions to the outer planets: the Europa Jupiter System Mission (EJSM) and the Titan Saturn System Mission (TSSM). Joint Science Definition Teams (JSDTs) were formed with U.S. and European membership to guide study activities that were conducted collaboratively by engineering teams working on both sides of the Atlantic. EJSM comprises the Jupiter Europa Orbiter (JEO) that would be provided by NASA and the Jupiter Ganymede Orbiter (JGO) that would be provided by ESA. Both spacecraft would be launched independently in 2020, and arrive 6 years later for a 3-4 year mission within the Jupiter System. Both orbiters would explore Jupiter's system on trajectories that include flybys of Io (JEO only), Europa (JEO only), Ganymede and Callisto. The operation of JEO would culminate in orbit around Europa while that of JGO would culminate in orbit around Ganymede. Synergistic and coordinated observations would be planned. The Titan Saturn System Mission (TSSM) comprises a Titan Orbiter provided by NASA that would carry two Titan in situ elements provided by ESA: the montgolfière and the lake lander. The mission would launch in 2020 and arrive 9 years later for a 4-year duration in the Saturn system. Following delivery of the ESA in situ elements to Titan, the Titan Orbiter would explore the Saturn system via a 2-year tour that includes Enceladus and Titan flybys. The montgolfière would last at least 6-12 months at Titan and the lake lander 8-10 hours. Following the Saturn system tour, the Titan Orbiter would culminate in a ~2-year orbit around Titan. Synergistic and coordinated observations would be planned between the orbiter and in situ elements. The ESA contribution to this joint endeavor will be implemented as the first Cosmic Vision Large-class (L1) mission; the NASA contribution will be implemented as the Outer Planet Flagship Mission. The contribution to each mission is being reviewed and

Lunar Exploration and Science in ESA

NASA Astrophysics Data System (ADS)

Carpenter, James; Foing, Bernard H.; Fisackerly, Richard; Houdou, Berengere; De Rosa, Diego; Patti, Bernado; Schiemann, Jens

ESA seeks to provide Europe with access to the lunar surface, and allow Europeans to benefit from the opening up of this new frontier, as part of a global endeavor. This will be best achieved through an exploration programme which combines the strengths and capabilities of both robotic and human explorers. ESA is preparing for future participation in lunar exploration through a combination of human and robotic activities, in cooperation with international partners. Future planned activities include the contribution of key technological capabilities to the Russian led robotic missions, Luna-Glob, Luna-Resurs orbiter and Luna-Resurs lander. For the Luna-Resurs lander ESA will provide analytical capabilities to compliment the already selected Russian led payload, focusing on the abundance, composition and isotopes of lunar volatiles in polar regions, and their associated chemistry. This should be followed by the contributions at the level of mission elements to a Lunar Polar Sample Return mission. This partnership will provide access for European investigators to the opportunities offered by the Russian led instruments on the missions, as well as providing Europe with a unique opportunity to characterise and utilise polar volatile populations. Ultimately samples of high scientific value, from as of yet unexplored and unsampled locations shall be made available to the scientific community. These robotic activities are being performed with a view to enabling a future more comprehensive programme in which robotic and human activities are integrated to provide the maximum benefits from lunar surface access. Activities on the ISS and ESA participation to the US Multi-Purpose Crew Vehicle, which is planned for a first unmanned lunar flight in 2017, are also important steps towards achieving this. All of these activities are performed with a view to generating the technologies, capabilities, knowledge and heritage that will make Europe an indispensable partner in the

Lunar Exploration and Science in ESA

NASA Astrophysics Data System (ADS)

Carpenter, James; Houdou, Bérengère; Fisackerly, Richard; De Rosa, Diego; Patti, Bernardo; Schiemann, Jens; Hufenbach, Bernhard; Foing, Bernard

2014-05-01

ESA seeks to provide Europe with access to the lunar surface, and allow Europeans to benefit from the opening up of this new frontier, as part of a global endeavor. This will be best achieved through an exploration programme which combines the strengths and capabilities of both robotic and human explorers. ESA is preparing for future participation in lunar exploration through a combination of human and robotic activities, in cooperation with international partners. Future planned activities include the contribution of key technological capabilities to the Russian led robotic missions, Luna-Glob, Luna-Resurs orbiter and Luna-Resurs lander. For the Luna-Resurs lander ESA will provide analytical capabilities to compliment the already selected Russian led payload, focusing on the composition and isotopic abundances of lunar volatiles in polar regions. This should be followed by the contributions at the level of mission elements to a Lunar Polar Sample Return mission. This partnership will provide access for European investigators to the opportunities offered by the Russian led instruments on the missions, as well as providing Europe with a unique opportunity to characterize and utilize polar volatile populations. Ultimately samples of high scientific value, from as of yet unexplored and unsampled locations shall be made available to the scientific community. These robotic activities are being performed with a view to enabling a future more comprehensive programme in which robotic and human activities are integrated to provide the maximum benefits from lunar surface access. Activities on the ISS and ESA participation to the US led Multi-Purpose Crew Vehicle, which is planned for a first unmanned lunar flight in 2017, are also important steps towards achieving this. All of these activities are performed with a view to generating the technologies, capabilities, knowledge and heritage that will make Europe an indispensable partner in the exploration missions of the future.

Mars Exploration Rovers: 4 Years on Mars

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.

2008-01-01

This January, the Mars Exploration Rovers "Spirit" and "Opportunity" are starting their fifth year of exploring the surface of Mars, well over ten times their nominal 90-day design lifetime. This lecture discusses the Mars Exploration Rovers, presents the current mission status for the extended mission, some of the most results from the mission and how it is affecting our current view of Mars, and briefly presents the plans for the coming NASA missions to the surface of Mars and concepts for exploration with robots and humans into the next decade, and beyond.

Mars Rover imaging systems and directional filtering

NASA Technical Reports Server (NTRS)

Wang, Paul P.

1989-01-01

Computer literature searches were carried out at Duke University and NASA Langley Research Center. The purpose is to enhance personal knowledge based on the technical problems of pattern recognition and image understanding which must be solved for the Mars Rover and Sample Return Mission. Intensive study effort of a large collection of relevant literature resulted in a compilation of all important documents in one place. Furthermore, the documents are being classified into: Mars Rover; computer vision (theory); imaging systems; pattern recognition methodologies; and other smart techniques (AI, neural networks, fuzzy logic, etc).

The ExoMars Raman spectrometer and the identification of biogeological spectroscopic signatures using a flight-like prototype.

PubMed

Edwards, Howell G M; Hutchinson, Ian; Ingley, Richard

2012-10-01

The molecular specificity of Raman spectroscopy provides a powerful tool for the analytical interrogation of mineralogical and many biological specimens. The Raman Laser Spectrometer (RLS) is a compact Raman spectrometer under development for deployment on the Martian surface as part of the forthcoming ESA ExoMars mission. This will be the first Raman instrument deployed in space. The scientific interpretation of the data emerging from such an instrument not only addresses the geological and mineral composition of the specimens but also enables an assessment to be made of organic biomaterials that may be preserved in the planetary geological record. The latter evidence centres on the residual and distinctive chemistry relating to the biological adaptation of the geological matrix that has occurred as a result of extremophilic organisms colonizing suitable geological niches for their survival in environmentally stressed habitats on Mars. These biogeological modifications have been studied terrestrially for Mars analogue sites and consist of both a geological component and residual key organic biomarkers, the recognition of which would be a prime factor in life detection surveys of a planetary surface and subsurface. In this paper, the protocols required for the Raman spectral discrimination of key biogeological features that may be detectable on the Martian planetary surface or subsurface are developed using the UK breadboard (UKBB) instrument. This instrument has been constructed to be functionally equivalent to the RLS flight instrument design in order to evaluate the feasible science return of the instrument which will finally be delivered to Mars. Initial Raman measurements using the UKBB are presented and compared with the performance of a commercial laboratory Raman microscope. The initial measurements reported here demonstrate this flight-like prototype achieves straightforward detection of biological signatures contained in geological matrices with Raman

Mars Exploration Rover: Launch, Cruise, Entry, Descent, and Landing

NASA Technical Reports Server (NTRS)

Erickson, James K.; Manning, Robert M.; Adler, M.

2004-01-01

The Mars Exploration Rover Project was an ambitious effort to land two highly capable rovers on Mars and concurrently explore the Martian surface for three months each. Launched in June and July of 2003, cruise operations were conducted through January 4, 2004 with the first landing, followed by the second landing on January 25. The prime mission for the second rover ended on April 27, 2004. This paper will provide an overview of the launch, cruise, and landing phases of the mission, including the engineering and science objectives and challenges involved in the selection and targeting of the landing sites, as well as the excitement and challenges of atmospheric entry, descent and landing execution.

Satellite-map position estimation for the Mars rover

NASA Technical Reports Server (NTRS)

Hayashi, Akira; Dean, Thomas

1989-01-01

A method for locating the Mars rover using an elevation map generated from satellite data is described. In exploring its environment, the rover is assumed to generate a local rover-centered elevation map that can be used to extract information about the relative position and orientation of landmarks corresponding to local maxima. These landmarks are integrated into a stochastic map which is then matched with the satellite map to obtain an estimate of the robot's current location. The landmarks are not explicitly represented in the satellite map. The results of the matching algorithm correspond to a probabilistic assessment of whether or not the robot is located within a given region of the satellite map. By assigning a probabilistic interpretation to the information stored in the satellite map, researchers are able to provide a precise characterization of the results computed by the matching algorithm.

Testing Planetary Rovers: Technologies, Perspectives, and Lessons Learned

NASA Technical Reports Server (NTRS)

Thomas, Hans; Lau, Sonie (Technical Monitor)

1998-01-01

Rovers are a vital component of NASA's strategy for manned and unmanned exploration of space. For the past five years, the Intelligent Mechanisms Group at the NASA Ames Research Center has conducted a vigorous program of field testing of rovers from both technology and science team productivity perspective. In this talk, I will give an overview of the the last two years of the test program, focusing on tests conducted in the Painted Desert of Arizona, the Atacama desert in Chile, and on IMG participation in the Mars Pathfinder mission. An overview of autonomy, manipulation, and user interface technologies developed in response to these missions will be presented, and lesson's learned in these missions and their impact on future flight missions will be presented. I will close with some perspectives on how the testing program has affected current rover systems.

Opportunity Rover Views Ground Texture 'Perseverance Valley'

NASA Image and Video Library

2018-02-15

This late-afternoon view from the front Hazard Avoidance Camera on NASA's Mars Exploration Rover Opportunity shows a pattern of rock stripes on the ground, a surprise to scientists on the rover team. Approaching the 5,000th Martian day or sol, of what was planned as a 90-sol mission, Opportunity is still providing new discoveries. This image was taken inside "Perseverance Valley," on the inboard slope of the western rim of Endeavour Crater, on Sol 4958 (Jan. 4, 2018). Both this view and one taken the same sol by the rover's Navigation Camera look downhill toward the northeast from about one-third of the way down the valley, which extends about the length of two football fields from the crest of the rim toward the crater floor. The lighting, with the Sun at a low angle, emphasizes the ground texture, shaped into stripes defined by rock fragments. The stripes are aligned with the downhill direction. The rock to the upper right of the rover's robotic arm is about 2 inches (5 centimeters) wide and about 3 feet (1 meter) from the centerline of the rover's two front wheels. This striped pattern resembles features seen on Earth, including on Hawaii's Mauna Kea, that are formed by cycles of freezing and thawing of ground moistened by melting ice or snow. There, fine-grained fraction of the soil expands as it freezes, and this lifts the rock fragments up and to the sides. If such a process formed this pattern in Perseverance Valley, those conditions might have been present locally during a period within the past few million years when Mars' spin axis was at a greater tilt than it is now, and some of the water ice now at the poles was redistributed to lower latitudes. Other hypotheses for how these features formed are also under consideration, including high-velocity slope winds. https://photojournal.jpl.nasa.gov/catalog/PIA22218

Preparatory Test for First Rock Drilling by Mars Rover Curiosity

NASA Image and Video Library

2013-02-04

The bit in the rotary-percussion drill of NASA Mars rover Curiosity left its mark in a target patch of rock called John Klein during a test on Feb. 2, 2013, in preparation for the first drilling of a rock by the rover.

Curiosity Mars Rover First Image of Earth and Earth Moon

NASA Image and Video Library

2014-02-06

The two bodies in this portion of an evening-sky view by NASA Mars rover Curiosity are Earth and Earth moon. The rover Mast Camera Mastcam imaged them in the twilight sky of Curiosity 529th Martian day, or sol Jan. 31, 2014.

Rover Soil Experiments Near Yogi

NASA Technical Reports Server (NTRS)

1997-01-01

Sojourner, while on its way to the rock Yogi, performed several soil mechanics experiments. Piles of loose material churned up from the experiment are seen in front of and behind the Rover. The rock Pop-Tart is visible near the front right rover wheel. Yogi is at upper right. The image was taken by the Imager for Mars Pathfinder.

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is a division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

Adaptive Inner-Loop Rover Control

NASA Technical Reports Server (NTRS)

Kulkarni, Nilesh; Ippolito, Corey; Krishnakumar, Kalmanje; Al-Ali, Khalid M.

2006-01-01

Adaptive control technology is developed for the inner-loop speed and steering control of the MAX Rover. MAX, a CMU developed rover, is a compact low-cost 4-wheel drive, 4-wheel steer (double Ackerman), high-clearance agile durable chassis, outfitted with sensors and electronics that make it ideally suited for supporting research relevant to intelligent teleoperation and as a low-cost autonomous robotic test bed and appliance. The design consists of a feedback linearization based controller with a proportional - integral (PI) feedback that is augmented by an online adaptive neural network. The adaptation law has guaranteed stability properties for safe operation. The control design is retrofit in nature so that it fits inside the outer-loop path planning algorithms. Successful hardware implementation of the controller is illustrated for several scenarios consisting of actuator failures and modeling errors in the nominal design.

Immersive visualization for navigation and control of the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Hartman, Frank R.; Cooper, Brian; Maxwell, Scott; Wright, John; Yen, Jeng

2004-01-01

The Rover Sequencing and Visualization Program (RSVP) is a suite of tools for sequencing of planetary rovers, which are subject to significant light time delay and thus are unsuitable for teleoperation.

Archiving Data From the 2003 Mars Exploration Rover Mission

NASA Astrophysics Data System (ADS)

Arvidson, R. E.

2002-12-01

The two Mars Exploration Rovers will touch down on the red planet in January 2004 and each will operate for at least 90 sols, traversing hundreds of meters across the surface and acquiring data from the Athena Science Payload (mast-based multi-spectral, stereo-imaging data and emission spectra; arm-based in-situ Alpha Particle X-Ray (APXS) and Mössbauer Spectroscopy, microscopic imaging, coupled with use of a rock abrasion tool) at a number of locations. In addition, the rovers will acquire science and engineering data along traverses to characterize terrain properties and perhaps be used to dig trenches. An "Analyst's Notebook" concept has been developed to capture, organize, archive and distribute raw and derived data sets and documentation (http://wufs.wustl.edu/rover). The Notebooks will be implemented in ways that will allow users to "playback" the mission, using executed commands to drive animated views of rover activities, and pop-up windows to show why particular observations were acquired, along with displays of raw and derived data products. In addition, the archive will include standard Planetary Data System files and software for processing to higher-level products. The Notebooks will exist both as an online system and as a set of distributable Digital Video Discs or other appropriate media. The Notebooks will be made available through the Planetary Data System within six months after the end of observations for the relevant rovers.

Mars Science Laboratory Rover Taking Shape

NASA Technical Reports Server (NTRS)

2008-01-01

This image taken in August 2008 in a clean room at NASA's Jet Propulsion Laboratory, Pasadena, Calif., shows NASA's next Mars rover, the Mars Science Laboratory, in the course of its assembly, before additions of its arm, mast, laboratory instruments and other equipment.

The rover is about 9 feet wide and 10 feet long.

Viewing progress on the assembly are, from left: NASA Associate Administrator for Science Ed Weiler, California Institute of Technology President Jean-Lou Chameau, JPL Director Charles Elachi, and JPL Associate Director for Flight Projects and Mission Success Tom Gavin.

JPL, a division of Caltech, manages the Mars Science Laboratory project for the NASA Science Mission Directorate, Washington.

First light of Cassis: the stereo surface imaging system onboard the exomars TGO

NASA Astrophysics Data System (ADS)

Gambicorti, L.; Piazza, D.; Pommerol, A.; Roloff, V.; Gerber, M.; Ziethe, R.; El-Maarry, M. R.; Weigel, T.; Johnson, M.; Vernani, D.; Pelo, E.; Da Deppo, V.; Cremonese, G.; Ficai Veltroni, I.; Thomas, N.

2017-09-01

The Colour and Stereo Surface Imaging System (CaSSIS) camera was launched on 14 March 2016 onboard the ExoMars Trace Gas Orbiter (TGO) and it is currently in cruise to Mars. The CaSSIS high resolution optical system is based on a TMA telescope (Three Mirrors Anastigmatic configuration) with a 4th powered folding mirror compacting the CFRP (Carbon Fiber Reinforced Polymer) structure. The camera EPD (Entrance Pupil Diameter) is 135 mm and the focal length is 880 mm, giving an F# 6.5 system; the wavelength range covered by the instrument is 400-1100 nm. The optical system is designed to have distortion of less than 2%, and a worst case Modulation Transfer Function (MTF) of 0.3 at the detector Nyquist spatial frequency (i.e. 50 lp/mm). The Focal Plane Assembly (FPA), including the detector, is a spare from the Simbio-Sys instrument of the Italian Space Agency (ASI). Simbio-Sys will fly on ESA's BepiColombo mission to Mercury in 2018. The detector, developed by Raytheon Vision Systems, is a 2k×2k hybrid Si-PIN array with 10 μm-pixel pitch. The detector allows snap shot operation at a read-out rate of 5 Mpx/s with 14-bit resolution. CaSSIS will operate in a push-frame mode with a Filter Strip Assembly (FSA), placed directly above the detector sensitive area, selecting 4 colour bands. The scale at a slant angle of 4.6 m/px from the nominal orbit is foreseen to produce frames of 9.4 km × 6.3 km on the Martian surface, and covering a Field of View (FoV) of 1.33° cross track × 0.88° along track. The University of Bern was in charge of the full instrument integration as well as the characterisation of the focal plane of CaSSIS. The paper will present an overview of CaSSIS and the optical performance of the telescope and the FPA. The preliminary results of the on-ground calibration campaign and the first light obtained during the commissioning and pointing campaign (April 2016) will be described in detail. The instrument is acquiring images with an average Point Spread

Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Trease, Brian; Arvidson, Raymond; Lindemann, Randel; Bennett, Keith; Zhou, Feng; Iagnemma, Karl; Senatore, Carmine; Van Dyke, Lauren

2011-01-01

To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover (MER) project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting tool, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction Simulator), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using MSC-Adams dynamic modeling software. Newly modeled terrain-rover interactions include the rut-formation effect of deformable soils, using the classical Bekker-Wong implementation of compaction resistances and bull-dozing effects. The paper presents the details and implementation of the model with two case studies based on actual MER telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.

Tele-Operated Lunar Rover Navigation Using Lidar

NASA Technical Reports Server (NTRS)

Pedersen, Liam; Allan, Mark B.; Utz, Hans, Heinrich; Deans, Matthew C.; Bouyssounouse, Xavier; Choi, Yoonhyuk; Fluckiger, Lorenzo; Lee, Susan Y.; To, Vinh; Loh, Jonathan;

Curiosity Rover's First Anniversary

NASA Image and Video Library

2013-08-06

Expedition 35/36 NASA astronaut Chris Cassidy, left on screen, is seen on a live feed from the International Space Station as they participate in a public event at NASA Headquarters observing the first anniversary of the Curiosity rover's landing on Mars, Tuesday, August 6th, 2013 in Washington. Photo Credit: (NASA/Carla Cioffi)

Curiosity Rover's First Anniversary

NASA Image and Video Library

2013-08-06

Expedition 35/36 NASA astronaut Karen Nyberg, right on screen, is seen on a live feed from the International Space Station as they participate in a public event at NASA Headquarters observing the first anniversary of the Curiosity rover's landing on Mars, Tuesday, August 6th, 2013 in Washington. Photo Credit: (NASA/Carla Cioffi)

The ESA's Space Trajectory Analysis software suite

NASA Astrophysics Data System (ADS)

Ortega, Guillermo

The European Space Agency (ESA) initiated in 2005 an internal activity to develop an open source software suite involving university science departments and research institutions all over the world. This project is called the "Space Trajectory Analysis" or STA. This article describes the birth of STA and its present configuration. One of the STA aims is to promote the exchange of technical ideas, and raise knowledge and competence in the areas of applied mathematics, space engineering, and informatics at University level. Conceived as a research and education tool to support the analysis phase of a space mission, STA is able to visualize a wide range of space trajectories. These include among others ascent, re-entry, descent and landing trajectories, orbits around planets and moons, interplanetary trajectories, rendezvous trajectories, etc. The article explains that STA project is an original idea of the Technical Directorate of ESA. It was born in August 2005 to provide a framework in astrodynamics research at University level. As research and education software applicable to Academia, a number of Universities support this development by joining ESA in leading the development. ESA and Universities partnership are expressed in the STA Steering Board. Together with ESA, each University has a chair in the board whose tasks are develop, control, promote, maintain, and expand the software suite. The article describes that STA provides calculations in the fields of spacecraft tracking, attitude analysis, coverage and visibility analysis, orbit determination, position and velocity of solar system bodies, etc. STA implements the concept of "space scenario" composed of Solar system bodies, spacecraft, ground stations, pads, etc. It is able to propagate the orbit of a spacecraft where orbital propagators are included. STA is able to compute communication links between objects of a scenario (coverage, line of sight), and to represent the trajectory computations and

ESA Earth Observation missions at the service of geoscience

NASA Astrophysics Data System (ADS)

Aschbacher, Josef

2017-04-01

The intervention will present ESA's Earth Observation programmes and their relevance to geoscience. ESA's Earth observation missions are mainly grouped into three categories: The Sentinel satellites in the context of the European Copernicus Programme, the scientific Earth Explorers and the meteorological missions. Developments, applications and scientific results for the different mission types will be addressed, along with overall trends and boundary conditions. The Earth Explorers, who form the science and research element of ESA's Living Planet Programme, focus on the atmosphere, biosphere, hydrosphere, cryosphere and Earth's interior. The Earth Explorers also aim at learning more about the interactions between these components and the impact that human activity is having on natural Earth processes. The Sentinel missions provide accurate, timely, long term and uninterrupted data to provide key information services, improving the way the environment is managed, and helping to mitigate the effects of climate change. The operational Sentinel satellites can also be exploited for scientific endeavours. Meteorological satellites help to predict the weather and feature the most mature application of Earth observation. Over the last four decades satellites have been radically improving the accuracy of weather forecasts by providing unique and indispensable input data to numerical computation models. In addition, Essential Climate Variables (ECV) are constantly monitored within ESA's Climate Change Initiative in order to create a long-term record of key geophysical parameters. All of these activities can only be carried out in international cooperation. Accordingly, ESA maintains long-standing partnerships with other space agencies and relevant institutions worldwide. In running its Earth observation programmes, ESA responds to societal needs and challenges as well as to requirements resulting from political priorities, such as the United Nations' Sustainable Development

ESA airborne campaigns in support of Earth Explorers

NASA Astrophysics Data System (ADS)

Casal, Tania; Davidson, Malcolm; Schuettemeyer, Dirk; Perrera, Andrea; Bianchi, Remo

2013-04-01

In the framework of its Earth Observation Programmes the European Space Agency (ESA) carries out ground based and airborne campaigns to support geophysical algorithm development, calibration/validation, simulation of future spaceborne earth observation missions, and applications development related to land, oceans and atmosphere. ESA has been conducting airborne and ground measurements campaigns since 1981 by deploying a broad range of active and passive instrumentation in both the optical and microwave regions of the electromagnetic spectrum such as lidars, limb/nadir sounding interferometers/spectrometers, high-resolution spectral imagers, advanced synthetic aperture radars, altimeters and radiometers. These campaigns take place inside and outside Europe in collaboration with national research organisations in the ESA member states as well as with international organisations harmonising European campaign activities. ESA campaigns address all phases of a spaceborne missions, from the very beginning of the design phase during which exploratory or proof-of-concept campaigns are carried out to the post-launch exploitation phase for calibration and validation. We present four recent campaigns illustrating the objectives and implementation of such campaigns. Wavemill Proof Of Concept, an exploratory campaign to demonstrate feasibility of a future Earth Explorer (EE) mission, took place in October 2011 in the Liverpool Bay area in the UK. The main objectives, successfully achieved, were to test Astrium UKs new airborne X-band SAR instrument capability to obtain high resolution ocean current and topology retrievals. Results showed that new airborne instrument is able to retrieve ocean currents to an accuracy of ± 10 cms-1. The IceSAR2012 campaign was set up to support of ESA's EE Candidate 7,BIOMASS. Its main objective was to document P-band radiometric signatures over ice-sheets, by upgrading ESA's airborne POLARIS P-band radar ice sounder with SAR capability. Campaign

Challenges Analyzing Gypsum on Mars by Raman Spectroscopy.

PubMed

Marshall, Craig P; Olcott Marshall, Alison

2015-09-01

Raman spectroscopy can provide chemical information about organic and inorganic substances quickly and nondestructively with little to no sample preparation, thus making it an ideal instrument for Mars rover missions. The ESA ExoMars planetary mission scheduled for launch in 2018 will contain a miniaturized Raman spectrometer (RLS) as part of the Pasteur payload operating with a continuous wave (CW) laser emitting at 532 nm. In addition, NASA is independently developing two miniaturized Raman spectrometers for the upcoming Mars 2020 rover mission, one of which is a remote (stand-off) Raman spectrometer that uses a pulse-gated 532 nm excitation system (SuperCam). The other is an in situ Raman spectrometer that employs a CW excitation laser emitting at 248.6 nm (SHERLOC). Recently, it has been shown with analyses by Curiosity that Gale Crater contains significantly elevated concentrations of transition metals such as Cr and Mn. Significantly, these transition metals are known to undergo fluorescence emission in the visible portion of the electromagnetic spectrum. Consequently, samples containing these metals could be problematic for the successful acquisition of fluorescence-free Raman spectra when using a CW 532 nm excitation source. Here, we investigate one analog environment, with a similar mineralogy and sedimentology to that observed in martian environments, as well as elevated Cr contents, to ascertain the best excitation wavelength to successfully collect fluorescence-free spectra from Mars-like samples. Our results clearly show that CW near-infrared laser excitation emitting at 785 nm is better suited to the collection of fluorescence-free Raman spectra than would be a CW laser emitting at 532 nm.

Strategy for planetary surface exploration by rover

NASA Astrophysics Data System (ADS)

Clark, Benton C.

1993-02-01

Surface transportation for humans on Mars and the moon is important for maximizing the science return. But in the larger sense, it is fundamentally essential because a sufficient exploration could otherwise be accomplished purely by robotic means, albeit at a much slower pace. Rovers for humans must be robust for both safety considerations and the mission requirements to reach prime exploration regions and landmarks of scientific and public interest. Dual rovers moving in convoy and an operating strategy that can effect self-rescue and adapt to unknown conditions will be necessary to achieve success with acceptable risk.

Autonomous Rovers for Polar Science Campaigns

NASA Astrophysics Data System (ADS)

Lever, J. H.; Ray, L. E.; Williams, R. M.; Morlock, A. M.; Burzynski, A. M.

2012-12-01

We have developed and deployed two over-snow autonomous rovers able to conduct remote science campaigns on Polar ice sheets. Yeti is an 80-kg, four-wheel-drive (4WD) battery-powered robot with 3 - 4 hr endurance, and Cool Robot is a 60-kg 4WD solar-powered robot with unlimited endurance during Polar summers. Both robots navigate using GPS waypoint-following to execute pre-planned courses autonomously, and they can each carry or tow 20 - 160 kg instrument payloads over typically firm Polar snowfields. In 2008 - 12, we deployed Yeti to conduct autonomous ground-penetrating radar (GPR) surveys to detect hidden crevasses to help establish safe routes for overland resupply of research stations at South Pole, Antarctica, and Summit, Greenland. We also deployed Yeti with GPR at South Pole in 2011 to identify the locations of potentially hazardous buried buildings from the original 1950's-era station. Autonomous surveys remove personnel from safety risks posed during manual GPR surveys by undetected crevasses or buried buildings. Furthermore, autonomous surveys can yield higher quality and more comprehensive data than manual ones: Yeti's low ground pressure (20 kPa) allows it to cross thinly bridged crevasses or other voids without interrupting a survey, and well-defined survey grids allow repeated detection of buried voids to improve detection reliability and map their extent. To improve survey efficiency, we have automated the mapping of detected hazards, currently identified via post-survey manual review of the GPR data. Additionally, we are developing machine-learning algorithms to detect crevasses autonomously in real time, with reliability potentially higher than manual real-time detection. These algorithms will enable the rover to relay crevasse locations to a base station for near real-time mapping and decision-making. We deployed Cool Robot at Summit Station in 2005 to verify its mobility and power budget over Polar snowfields. Using solar power, this zero

The use of harmonic drives on NASA's Mars Exploration Rover

NASA Technical Reports Server (NTRS)

Krishnan, S.; Voorhees, C.

2001-01-01

The Mars Exploration Rover (MER) mission will send two 185 kg rovers to Mars in 2003 to continue the scientific community's search for evidence of past water on Mars. These twin robotic vehicles will carry harmonic drives and their performance will be characterized at various temperatures, speeds and loads.

Space strategy and governance of ESA small member states

NASA Astrophysics Data System (ADS)

Sagath, Daniel; Papadimitriou, Angeliki; Adriaensen, Maarten; Giannopapa, Christina

2018-01-01

The European Space Agency (ESA) has twenty-two Member States with a variety of governance structures and strategic priorities regarding their space activities. The objective of this paper is to provide an up-to date overview and a holistic assessment of the national space governance structures and strategic priorities of the eleven smaller Member States (based on annual ESA contributions). A link is made between the governance structure and the main strategic objectives. The specific needs and interests of small and new Member States in the frame of European Space Integration are addressed. The first part of the paper focuses on the national space governance structures in the eleven smaller ESA Member States. The governance models of these Member States are identified including the responsible ministries and the entities entrusted with the implementation of space strategy/policy and programmes of the country. The second part of this paper focuses on the content and analysis of the national space strategies and indicates the main priorities and trends in the eleven smaller ESA Member States. The priorities are categorised with regards to technology domains, the role of space in the areas of sustainability and the motivators for space investments. In a third and final part, attention is given to the specific needs and interests of the smaller Member States in the frame of European space integration. ESA instruments are tailored to facilitate the needs and interests of the eleven smaller and/or new Member States.

Li-ion rechargeable batteries on Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Bugga, Ratnakumar; Smart, M.; Whitacanack, L.; Ewell, R.; Surampudi, S.

2006-01-01

Lithium-ion batteries have contributed significantly to the success of NASA's Mars Rovers, Spirit and Opportunity that have been exploring the surface of Mars for the last two years and performing astounding geological studies to answer the ever-puzzling questions of life beyond Earth and the origin of our planets. Combined with the triple-junction solar cells, the lithium-ion batteries have been powering the robotic rovers, and assist in keeping the rover electronics warm, and in supporting nighttime experimentation and communications. The use of Li-ion batteries has resulted in significant benefits in several categories, such as mass, volume, energy efficiency, self discharge, and above all low temperature performance. Designed initially for the primary mission needs of 300 cycles over 90 days of surface operation, the batteries have been performing admirably, over the last two years. After about 670 days of exploration and at least as many cycles, there is little change in the end-of discharge (EOD) voltages or capacities of these batteries, as estimated from the in-flight data and corroborated by ground testing. Aided by such impressive durability from the Li-ion batteries, both from cycling and calendar life stand point, these rovers are poised to extend their exploration well beyond two years. In this paper, we will describe the performance characteristics of these batteries during launch, cruise phase and on the surface of Mars thus far.

MRSR: Rationale for a Mars Rover/Sample Return mission

NASA Technical Reports Server (NTRS)

Carr, Michael H.

1992-01-01

The Solar System Exploration Committee of the NASA Advisory Council has recommended that a Mars Rover/Sample Return mission be launched before the year 2000. The recommendation is consistent with the science objectives as outlined by the National Academy of Sciences committees on Planetary and Lunar Exploration, and Planetary Biology and Chemical Evolution. Interest has also focused on Mars Rover/Sample Return (MRSR) missions, because of their crucial role as precursors for human exploration. As a result of this consensus among the advisory groups, a study of an MRSR mission began early in 1987. The study has the following goals: (1) to assess the technical feasibility of the mission; (2) to converge on two or three options for the general architecture of the mission; (3) to determine what new technologies need to be developed in order to implement the mission; (4) to define the different options sufficiently well that preliminary cost estimates can be made; and (5) to better define the science requirements. This chapter briefly describes Mars Rover/Sample Return missions that were examined in the late 1980s. These missions generally include a large (1000 kg) rover and return of over 5 kg of sample.

ExoMars Entry Demonstrator Module Dynamic Stability

NASA Astrophysics Data System (ADS)

Dormieux, Marc; Gulhan, Ali; Berner, Claude

2011-05-01

In the frame of ExoMars DM aerodynamics characterization, pitch damping derivatives determination is required as it drives the parachute deployment conditions. Series of free-flight and free- oscillation tests (captive model) have been conducted with particular attention for data reduction. 6 Degrees- of-Freedom (DoF) analysis tools require the knowledge of local damping derivatives. In general ground tests do not provide them directly but only effective damping derivatives. Free-flight (ballistic range) tests with full oscillations around trim angle have been performed at ISL for 0.5

Artist Concept of Mars 2020 Rover

NASA Image and Video Library

2013-07-09

Planning for NASA 2020 Mars rover envisions a basic structure that capitalizes on existing design and engineering, but with new science instruments selected through competition for accomplishing different science objectives.

Mars Pathfinder Rover-Lewis Research Center Technology Experiments Program

NASA Technical Reports Server (NTRS)

Stevenson, Steven M.

1997-01-01

An overview of NASA's Mars Pathfinder Program is given and the development and role of three technology experiments from NASA's Lewis Research Center and carried on the Mars Pathfinder rover is described. Two recent missions to Mars were developed and managed by the Jet Propulsion Laboratory, and launched late last year: Mars Global Surveyor in November 1996 and Mars Pathfinder in December 1996. Mars Global Surveyor is an orbiter which will survey the planet with a number of different instruments, and will arrive in September 1997, and Mars Pathfinder which consists of a lander and a small rover, landing on Mars July 4, 1997. These are the first two missions of the Mars Exploration Program consisting of a ten year series of small robotic martian probes to be launched every 26 months. The Pathfinder rover will perform a number of technology and operational experiments which will provide the engineering information necessary to design and operate more complex, scientifically oriented surface missions involving roving vehicles and other machinery operating in the martian environment. Because of its expertise in space power systems and technologies, space mechanisms and tribology, Lewis Research Center was asked by the Jet Propulsion Laboratory, which is heading the Mars Pathfinder Program, to contribute three experiments concerning the effects of the martian environment on surface solar power systems and the abrasive qualities of the Mars surface material. In addition, rover static charging was investigated and a static discharge system of several fine Tungsten points was developed and fixed to the rover. These experiments and current findings are described herein.

Students Compete in NASA's Human Exploration Rover Challenge

NASA Image and Video Library

2018-04-03

NASA's Human Exploration Rover Challenge invites high school and college teams to design, build and test human-powered roving vehicles inspired by the Apollo lunar missions and future exploration missions to the Moon, Mars and beyond. The nearly three-quarter-mile course boasts grueling obstacles that simulate terrain found throughout the solar system. Hosted by NASA’s Marshall Space Flight Center in Huntsville, Alabama, and the U.S. Space & Rocket Center, Rover Challenge is managed by Marshall's Academic Affairs Office.

Nuclear thermal rocket workshop reference system Rover/NERVA

NASA Technical Reports Server (NTRS)

Borowski, Stanley K.

1991-01-01

The Rover/NERVA engine system is to be used as a reference, against which each of the other concepts presented in the workshop will be compared. The following topics are reviewed: the operational characteristics of the nuclear thermal rocket (NTR); the accomplishments of the Rover/NERVA programs; and performance characteristics of the NERVA-type systems for both Mars and lunar mission applications. Also, the issues of ground testing, NTR safety, NASA's nuclear propulsion project plans, and NTR development cost estimates are briefly discussed.

(abstract) Telecommunications for Mars Rovers and Robotic Missions

NASA Technical Reports Server (NTRS)

Cesarone, Robert J.; Hastrup, Rolf C.; Horne, William; McOmber, Robert

1997-01-01

Telecommunications plays a key role in all rover and robotic missions to Mars both as a conduit for command information to the mission and for scientific data from the mission. Telecommunications to the Earth may be accomplished using direct-to-Earth links via the Deep Space Network (DSN) or by relay links supported by other missions at Mars. This paper reviews current plans for missions to Mars through the 2005 launch opportunity and their capabilities in support of rover and robotic telecommunications.

Terrain Modelling for Immersive Visualization for the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Wright, J.; Hartman, F.; Cooper, B.; Maxwell, S.; Yen, J.; Morrison, J.

2004-01-01

Immersive environments are being used to support mission operations at the Jet Propulsion Laboratory. This technology contributed to the Mars Pathfinder Mission in planning sorties for the Sojourner rover and is being used for the Mars Exploration Rover (MER) missions. The stereo imagery captured by the rovers is used to create 3D terrain models, which can be viewed from any angle, to provide a powerful and information rich immersive visualization experience. These technologies contributed heavily to both the mission success and the phenomenal level of public outreach achieved by Mars Pathfinder and MER. This paper will review the utilization of terrain modelling for immersive environments in support of MER.

Sources Sought for Innovative Scientific Instrumentation for Scientific Lunar Rovers

NASA Technical Reports Server (NTRS)

Meyer, C.

1993-01-01

Lunar rovers should be designed as integrated scientific measurement systems that address scientific goals as their main objective. Scientific goals for lunar rovers are presented. Teleoperated robotic field geologists will allow the science team to make discoveries using a wide range of sensory data collected by electronic 'eyes' and sophisticated scientific instrumentation. rovers need to operate in geologically interesting terrain (rock outcrops) and to identify and closely examine interesting rock samples. Enough flight-ready instruments are available to fly on the first mission, but additional instrument development based on emerging technology is desirable. Various instruments that need to be developed for later missions are described.

The University Rover Challenge: A competition highlighting Human and Robotic partnerships for exploration

NASA Astrophysics Data System (ADS)

Smith, Heather; Duncan, Andrew

2016-07-01

The University Rover Challenge began in 2006 with 4 American college teams competing, now in it's 10th year there are 63 teams from 12 countries registered to compete for the top rover designed to assist humans in the exploration of Mars. The Rovers compete aided by the University teams in four tasks (3 engineering and 1 science) in the Mars analog environment of the Utah Southern Desert in the United States. In this presentation we show amazing rover designs with videos demonstrating the incredible ingenuity, skill and determination of the world's most talented college students. We describe the purpose and results of each of the tasks: Astronaut Assistant, Rover Dexterity, Terrain maneuvering, and Science. We explain the evolution of the competition and common challenges faced by the robotic explorers

Athena Mars rover science investigation

NASA Astrophysics Data System (ADS)

Squyres, Steven W.; Arvidson, Raymond E.; Baumgartner, Eric T.; Bell, James F.; Christensen, Philip R.; Gorevan, Stephen; Herkenhoff, Kenneth E.; Klingelhöfer, Göstar; Madsen, Morten Bo; Morris, Richard V.; Rieder, Rudolf; Romero, Raul A.

2003-12-01

Each Mars Exploration Rover carries an integrated suite of scientific instruments and tools called the Athena science payload. The primary objective of the Athena science investigation is to explore two sites on the Martian surface where water may once have been present, and to assess past environmental conditions at those sites and their suitability for life. The remote sensing portion of the payload uses a mast called the Pancam Mast Assembly (PMA) that provides pointing for two instruments: the Panoramic Camera (Pancam), and the Miniature Thermal Emission Spectrometer (Mini-TES). Pancam provides high-resolution, color, stereo imaging, while Mini-TES provides spectral cubes at mid-infrared wavelengths. For in-situ study, a five degree-of-freedom arm called the Instrument Deployment Device (IDD) carries four more tools: a Microscopic Imager (MI) for close-up imaging, an Alpha Particle X-Ray Spectrometer (APXS) for elemental chemistry, a Mössbauer Spectrometer (MB) for the mineralogy of Fe-bearing materials, and a Rock Abrasion Tool (RAT) for removing dusty and weathered surfaces and exposing fresh rock underneath. The payload also includes magnets that allow the instruments to study the composition of magnetic Martian materials. All of the Athena instruments have undergone extensive calibration, both individually and using a set of geologic reference materials that are being measured with all the instruments. Using a MER-like rover and payload in a number of field settings, we have devised operations processes that will enable us to use the MER rovers to formulate and test scientific hypotheses concerning past environmental conditions and habitability at the landing sites.

NASA and ESA Partnership on the Multi-Purpose Crew Vehicle Service Module

NASA Technical Reports Server (NTRS)

Schubert, Kathleen E.; Grantier, Julie A.

2012-01-01

(1) ESA decided in its Council Meeting in March 2011 to partially offset the European ISS obligations after 2015 with different means than ATVs; (2) The envisioned approach is based on a barter element(s) that would generate cost avoidance on the NASA side; (3) NASA and ESA considered a number of Barter options, NASA concluded that the provision by ESA of the Service Module for the NASA Multi-Purpose Crew Vehicle (MPCV) was the barter with the most interest;. (4) A joint ESA - NASA working group was established in May 2011 to assess the feasibility of Europe developing this Module based on ATV heritage; (5)The working group was supported by European and US industry namely Astrium, TAS-I and Lockheed-Martin; and (6) The project is currently in phase B1 with the objective to prepare a technical and programmatic proposal for an ESA MPCV-SM development. This proposal will be one element of the package that ESA plans submit to go forward for approval by European Ministers in November 2012.

ACS experiment for atmospheric studies on "ExoMars-2016" Orbiter

NASA Astrophysics Data System (ADS)

Korablev, O. I.; Montmessin, F.; Fedorova, A. A.; Ignatiev, N. I.; Shakun, A. V.; Trokhimovskiy, A. V.; Grigoriev, A. V.; Anufreichik, K. A.; Kozlova, T. O.

2015-12-01