Task Adaptive Walking Robots for Mars Surface Exploration

NASA Technical Reports Server (NTRS)

Huntsberger, Terry; Hickey, Gregory; Kennedy, Brett; Aghazarian, Hrand

2000-01-01

There are exciting opportunities for robot science that lie beyond the reach of current manipulators, rovers, balloons, penetrators, etc. Examples include mobile explorations of the densely cratered Mars highlands, of asteroids, and of moons. These sites are believed to be rich in geologic history and mineralogical detail, but are difficult to robotically access and sample. The surface terrains are rough and changeable, with variable porosity and dust layering; and the small bodies present further challenges of low-temperature, micro-gravity environments. Even the more benign areas of Mars are highly variegated in character (>VL2 rock densities), presenting significant risk to conventional rovers. The development of compact walking robots would have applications to the current mission set for Mars surface exploration, as well as enabling future Mars Outpost missions, asteroid rendezvous missions for the Solar System Exploration Program (SSE) and the mechanical assembly/inspection of large space platforms for the Human Exploration and Development of Spaces (HEDS).

Molecular Microbial Analyses of the Mars Exploration Rovers Assembly Facility

NASA Technical Reports Server (NTRS)

Venkateswaran, Kasthuri; LaDuc, Myron T.; Newcombe, David; Kempf, Michael J.; Koke, John. A.; Smoot, James C.; Smoot, Laura M.; Stahl, David A.

2004-01-01

During space exploration, the control of terrestrial microbes associated with robotic space vehicles intended to land on extraterrestrial solar system bodies is necessary to prevent forward contamination and maintain scientific integrity during the search for life. Microorganisms associated with the spacecraft assembly environment can be a source of contamination for the spacecraft. In this study, we have monitored the microbial burden of air samples of the Mars Exploration Rovers' assembly facility at the Kennedy Space Center utilizing complementary diagnostic tools. To estimate the microbial burden and identify potential contaminants in the assembly facility, several microbiological techniques were used including culturing, cloning and sequencing of 16S rRNA genes, DNA microarray analysis, and ATP assays to assess viable microorganisms. Culturing severely underestimated types and amounts of contamination since many of the microbes implicated by molecular analyses were not cultivable. In addition to the cultivation of Agrobacterium, Burkholderia and Bacillus species, the cloning approach retrieved 16s rDNA sequences of oligotrophs, symbionts, and y-proteobacteria members. DNA microarray analysis based on rational probe design and dissociation curves complemented existing molecular techniques and produced a highly parallel, high resolution analysis of contaminating microbial populations. For instance, strong hybridization signals to probes targeting the Bacillus species indicated that members of this species were present in the assembly area samples; however, differences in dissociation curves between perfect-match and air sample sequences showed that these samples harbored nucleotide polymorphisms. Vegetative cells of several isolates were resistant when subjected to treatments of UVC (254 nm) and vapor H202 (4 mg/L). This study further validates the significance of non-cultivable microbes in association with spacecraft assembly facilities, as our analyses have identified several non-cultivable microbes likely to contaminate the surfaces of spacecraft hardware.

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.

Spirit Beside 'Home Plate,' Sol 1809

NASA Technical Reports Server (NTRS)

2009-01-01

NASA Mars Exploration Rover Spirit used its navigation camera to take the images assembled into this 120-degree view southward after a short drive during the 1,809th Martian day, or sol, of Spirit's mission on the surface of Mars (February 3, 2009).

Spirit had driven about 2.6 meters (8.5 feet) that sol, continuing a clockwise route around a low plateau called 'Home Plate.' In this image, the rocks visible above the rovers' solar panels are on the slope at the northern edge of Home Plate.

This view is presented as a cylindrical projection with geometric seam correction.

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.

Vice President Pence Tours Jet Propulsion Laboratory

NASA Image and Video Library

2018-04-28

U.S. Vice President Mike Pence, right, is shown the Mars 2020 spacecraft descent stage from inside the Spacecraft Assembly Facility (SAF) by JPL Director Michael Watkins, left, and NASA Mars Exploration Manager Li Fuk at NASA's Jet Propulsion Laboratory, Saturday, April 28, 2018 in Pasadena, California. Mars 2020 is a Mars rover mission by NASA's Mars Exploration Program with a planned launch in 2020. Photo Credit: (NASA/Bill Ingalls)

A Motor Drive Electronics Assembly for Mars Curiosity Rover: An Example of Assembly Qualification for Extreme Environments

NASA Technical Reports Server (NTRS)

Kolawa, Elizabeth; Chen, Yuan; Mojarradi, Mohammad M.; Weber, Carissa Tudryn; Hunter, Don J.

2013-01-01

This paper describes the technology development and infusion of a motor drive electronics assembly for Mars Curiosity Rover under space extreme environments. The technology evaluation and qualification as well as space qualification of the assembly are detailed and summarized. Because of the uncertainty of the technologies operating under the extreme space environments and that a high level reliability was required for this assembly application, both component and assembly board level qualifications were performed.

Lion King Surveys Homeland

NASA Technical Reports Server (NTRS)

2004-01-01

This image from the Mars Exploration Rover Opportunity's panoramic camera shows one octant of a larger panoramic image which has not yet been fully processed. The full panorama, dubbed 'Lion King' was obtained on sols 58 and 60 of the mission as the rover was perched at the lip of Eagle Crater, majestically looking down into its former home. It is the largest panorama yet obtained by either rover. The octant, which faces directly into the crater, shows features as small as a few millimeters across in the field near the rover arm, to features a few meters across or larger on the horizon.

The full panoramic image was taken in eight segments using six filters per segment, for a total of 558 images and more than 75 megabytes of data. This enhanced color composite was assembled from the infrared (750 nanometer), green (530 nanometer), and violet (430 nanometer) filters. Additional lower elevation tiers were added relative to other panoramas to ensure that the entire crater was covered in the mosaic.

Battery Control Boards for Li-Ion Batteries on Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

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

2006-01-01

Rechargeable Lithium-ion batteries have been operating successfully on both Spirit and Opportunity rovers for the last two years, which includes six months of Assembly Launch and Test Operations (ATLO), seven months of cruise and about eleven months of surface operations. The Battery Control Boards designed and fabricated in-house would protect cells against overcharge and over-discharge and provide cell balance. Their performance has thus far been quite satisfactory. The ground data o the mission simulation battery project little capacity loss of less than 3% during cruise and 180 sols. Batteries are poised to extend the mission beyond six months, if not a couple of years.

Things Aren't Always What They Seem

NASA Technical Reports Server (NTRS)

2004-01-01

This mosaic was assembled from images taken by the panoramic camera on the Mars Exploration Rover Spirit at a region dubbed 'site 31.' Spirit is looking at 'Missoula Crater.' From orbit, the features within the crater appeared to be ejecta from the younger 'Bonneville Crater,' but Spirit's closer look revealed wind-blown drift deposits, not ejecta, within Missoula Crater.

Mars Cameras Make Panoramic Photography a Snap

NASA Technical Reports Server (NTRS)

2008-01-01

If you wish to explore a Martian landscape without leaving your armchair, a few simple clicks around the NASA Web site will lead you to panoramic photographs taken from the Mars Exploration Rovers, Spirit and Opportunity. Many of the technologies that enable this spectacular Mars photography have also inspired advancements in photography here on Earth, including the panoramic camera (Pancam) and its housing assembly, designed by the Jet Propulsion Laboratory and Cornell University for the Mars missions. Mounted atop each rover, the Pancam mast assembly (PMA) can tilt a full 180 degrees and swivel 360 degrees, allowing for a complete, highly detailed view of the Martian landscape. The rover Pancams take small, 1 megapixel (1 million pixel) digital photographs, which are stitched together into large panoramas that sometimes measure 4 by 24 megapixels. The Pancam software performs some image correction and stitching after the photographs are transmitted back to Earth. Different lens filters and a spectrometer also assist scientists in their analyses of infrared radiation from the objects in the photographs. These photographs from Mars spurred developers to begin thinking in terms of larger and higher quality images: super-sized digital pictures, or gigapixels, which are images composed of 1 billion or more pixels. Gigapixel images are more than 200 times the size captured by today s standard 4 megapixel digital camera. Although originally created for the Mars missions, the detail provided by these large photographs allows for many purposes, not all of which are limited to extraterrestrial photography.

Vice President Pence Tours Jet Propulsion Laboratory

NASA Image and Video Library

2018-04-28

U.S. Vice President Mike Pence, 2nd from right, is shown the Mars 2020 spacecraft descent stage from inside the Spacecraft Assembly Facility (SAF) by JPL Director Michael Watkins, to the Vice President's left, and NASA Mars Exploration Manager Li Fuk at NASA's Jet Propulsion Laboratory, Saturday, April 28, 2018 in Pasadena, California. Mars 2020 is a Mars rover mission by NASA's Mars Exploration Program with a planned launch in 2020. Photo Credit: (NASA/Bill Ingalls)

KSC-2012-3263

NASA Image and Video Library

2012-05-10

CAPE CANAVERAL, Fla. – The prototype lander for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project is prepared for further assembly in a test facility behind the Operations and Checkout Building at NASA’s Kennedy Space Center in Florida. The ramps provide RESOLVE’s rover an avenue to mount or dismount the lander. RESOLVE consists of a rover and drill provided by the Canadian Space Agency to support a NASA payload that is designed to prospect for water, ice and other lunar resources. RESOLVE also will demonstrate how future explorers can take advantage of resources at potential landing sites by manufacturing oxygen from soil. NASA will be conducting field tests in July outside of Hilo, Hawaii, with equipment and concept vehicles that demonstrate how explorers might prospect for resources and make their own oxygen for survival while on other planetary bodies. For more information, visit http://www.nasa.gov/exploration/analogs/index.html. Photo credit: NASA/Ben Smegelsky

Robotic Astrobiology: Searching for Life with Rovers

NASA Astrophysics Data System (ADS)

Cabrol, N. A.; Wettergreen, D. S.; Team, L.

2006-05-01

The Life In The Atacama (LITA) project has developed and field tested a long-range, solar-powered, automated rover platform (Zoe) and a science payload assembled to search for microbial life in the Atacama desert. Life is hardly detectable over most of the extent of the driest desert on Earth. Its geological, climatic, and biological evolution provides a unique training ground for designing and testing exploration strategies and life detection methods for the robotic search for life on Mars. LITA opens the path to a new generation of rover missions that will transition from the current study of habitability (MER) to the upcoming search for, and study of, habitats and life on Mars. Zoe's science payload reflects this transition by combining complementary elements, some directed towards the remote sensing of the environment (geology, morphology, mineralogy, weather/climate) for the detection of conditions favorable to microbial habitats and oases along survey traverses, others directed toward the in situ detection of life' signatures (biological and physical, such as biological constructs and patterns). New exploration strategies specifically adapted to the search for microbial life were designed and successfully tested in the Atacama between 2003-2005. They required the development and implementation in the field of new technological capabilities, including navigation beyond the horizon, obstacle avoidance, and "science-on-the-fly" (automated detection of targets of science value), and that of new rover planning tools in the remote science operation center.

Lunar surface operations. Volume 4: Lunar rover trailer

NASA Technical Reports Server (NTRS)

Shields, William; Feteih, Salah; Hollis, Patrick

1993-01-01

The purpose of the project was to design a lunar rover trailer for exploration missions. The trailer was designed to carry cargo such as lunar geological samples, mining equipment and personnel. It is designed to operate in both day and night lunar environments. It is also designed to operate with a maximum load of 7000 kilograms. The trailer has a ground clearance of 1.0 meters and can travel over obstacles 0.75 meters high at an incline of 45 degrees. It can be transported to the moon fully assembled using any heavy lift vehicle with a storage compartment diameter of 5.0 meters. The trailer has been designed to meet or exceed the performance of any perceivable lunar vehicle.

Mix of Particles in 'Uchben' Close-up

NASA Technical Reports Server (NTRS)

2004-01-01

[figure removed for brevity, see original site] Figure 1

Close-up examination of a freshly exposed area of a rock called 'Uchben' in the 'Columbia Hills' of Mars reveals an assortment of particle shapes and sizes in the rock's makeup. NASA's Mars Exploration Rover Spirit used its microscopic imager during the rover's 286th martian day (Oct. 22, 2004) to take the frames assembled into this view. The view covers a circular hole ground into a target spot called 'Koolik' on Uchben by the rover's rock abrasion tool. The circle is 4.5 centimeters (1.8 inches) in diameter. Particles in the rock vary in shape from angular to round, and range in size from about 0.5 millimeter (0.2 inch) to too small to be seen. This assortment suggests that the rock originated from particles that had not been transported much by wind or water, because such a transport process would likely have resulted in more sorting of the particles by size and shape.

Mix of Particles in "Uchben" Close-up

NASA Image and Video Library

2004-11-04

Close-up examination of a freshly exposed area of a rock called "Uchben" in the "Columbia Hills" of Mars reveals an assortment of particle shapes and sizes in the rock's makeup. NASA's Mars Exploration Rover Spirit used its microscopic imager during the rover's 286th martian day (Oct. 22, 2004) to take the frames assembled into this view. The view covers a circular hole ground into a target spot called "Koolik" on Uchben by the rover's rock abrasion tool. The circle is 4.5 centimeters (1.8 inches) in diameter. Particles in the rock vary in shape from angular to round, and range in size from about 0.5 millimeter (0.2 inch) to too small to be seen. This assortment suggests that the rock originated from particles that had not been transported much by wind or water, because such a transport process would likely have resulted in more sorting of the particles by size and shape. http://photojournal.jpl.nasa.gov/catalog/PIA07023

Lithium-sulfur dioxide batteries on Mars rovers

NASA Technical Reports Server (NTRS)

Ratnakumar, Bugga V.; Smart, M. C.; Ewell, R. C.; Whitcanack, L. D.; Kindler, A.; Narayanan, S. R.; Surampudi, S.

2004-01-01

NASA's 2003 Mars Exploration Rover (MER) missions, Spirit and Opportunity, have been performing exciting surface exploration studies for the past six months. These two robotic missions were aimed at examining the presence of water and, thus, any evidence of life, and at understanding the geological conditions of Mars, These rovers have been successfully assisted by primary lithium-sulfur dioxide batteries during the critical entry, descent, and landing (EDL) maneuvers. These batteries were located on the petals of the lander, which, unlike in the Mars Pathfinder mission, was designed only to carry the rover. The selection of the lithium-sulfur dioxide battery system for this application was based on its high specific energy and high rate discharge capability, combined with low heat evolution, as dictated by this application. Lithium-sulfur dioxide batteries exhibit voltage delay, which tends to increase at low discharge temperatures, especially after extended storage at warm temperatures, In the absence of a depassivation circuit, as provided on earlier missions, e.g., Galileo, we were required to depassivate the lander primary batteries in a unique manner. The batteries were brought onto a shunt-regulated bus set at pre-selected discharge voltages, thus affecting depassivation during constant discharge voltages. Several ground tests were preformed, on cells, cell strings and battery assembly with five parallel strings, to identify optimum shunt voltages and durations of depassivation. We also examined the repassivation of lithium anodes, subsequent to depassivation. In this paper, we will describe these studies, in detail, as well as the depassivation of the lander flight batteries on both Spirit and Opportunity rover prior to the EDL sequence and their performance during landing on Mars.

Mars Science Laboratory Rover and Descent Stage

NASA Image and Video Library

2008-11-19

In this February 17, 2009, image, NASA Mars Science Laboratory rover is attached to the spacecraft descent stage. The image was taken inside the Spacecraft Assembly Facility at NASA JPL, Pasadena, Calif.

JPL-20180430-JPLf-0001-Vice President Pence Visits NASA Jet Propulsion Laboratory

NASA Image and Video Library

2018-04-30

Vice President Mike Pence toured NASA's Jet Propulsion Laboratory (JPL) in Pasadena, California on Saturday, April 28 with his wife, Karen, and their daughter, Charlotte. JPL is the birthplace of numerous past, present and future robotic missions. Pence saw and heard more about JPL missions, which support the nation’s goals of furthering exploration of the Moon and Mars. JPL Director Mike Watkins led the tour for Pence and his guests. Vice President Pence toured JPL’s Mission Control where engineers communicate with spacecraft across the solar system through NASA’s Deep Space Network. While there, Charlotte Pence uplinked commands to the Mars Curiosity rover to execute its next science activities. The signal took about seven minutes to reach the rover, which is about 80-million miles from Earth. Pence also saw the Spacecraft Assembly Facility, where the Mars 2020 mission hardware is being assembled in a giant “clean room.” Mars 2020 will not only look for signs of habitable conditions on Mars in the ancient past, but will also search for signs of past microbial life itself.

Directions for lunar construction - A derivation of requirements from a construction scenario analysis

NASA Technical Reports Server (NTRS)

Dias, William S.; Matijevic, Jacob R.; Venkataraman, Subramani T.; Smith, Jeffrey H.; Lindemann, Randel A.; Levin, Richard R.

1992-01-01

This paper provides an initial trade-off study among several lunar construction options available to the Space Exploration Initiative. The relative time effectiveness of Extra-Vehicular Activity (EVA), Intra-Vehicular Activity (IVA), and Earth-based remote control assembly and construction methods are studied. Also considered is whether there is any construction time savings to building roads in advance, or surveying the construction sites with orbiters or rovers in advance. The study was conducted by adding detail to a potentially real scenario - a nuclear power plant - and applying time multipliers for the various control options and terrain alternatives, provided by roboticists among the authors. The authors conclude that IVA is a faster construction method than either EVA or construction conducted remotely from Earth. Surveying proposed sites in advance, with orbiters and rovers, provides a significant time savings through adding to certainty, and therefore may be cost effective. Developing a heavy-lift launch capability and minimizing assembly and construction processes by landing large payloads is probably worthwhile to the degree possible, as construction activities would use a large amount of surface operations time.

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 different target sites in the vicinity of a (small) lander. In the framework of the upcoming ESA Aurora programme, the further development of surface-mobile robots will be an im- portant technology area to improve control, navigation, and guidance of a micro-rover and the accurate docking of its instruments on selected targets.

The backshell for the Mars Exploration Rover 1 (MER-1) is moved toward the rover (foreground, left). The backshell is a protective cover for the rover. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

NASA Image and Video Library

2003-05-10

The backshell for the Mars Exploration Rover 1 (MER-1) is moved toward the rover (foreground, left). The backshell is a protective cover for the rover. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

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.

Opportunity Surroundings on 3,000th Sol, Vertical Projection

NASA Image and Video Library

2012-09-07

This 360-degree vertical projection was assembled from images taken by the navigation camera on NASA Mars Exporation Rover Opportunity shows terrain surrounding the position where the rover spent its 3,000th Martian day.

Opportunity Surroundings on 3,000th Sol, Polar Projection

NASA Image and Video Library

2012-09-07

This 360-degree polar projection was assembled from images taken by the navigation camera on NASA Mars Exporation Rover Opportunity shows terrain surrounding the position where the rover spent its 3,000th Martian day.

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.

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.

Athena Mars rover science investigation

USGS Publications Warehouse

Squyres, S. W.; Arvidson, R. E.; Baumgartner, E.T.; Bell, J.F.; Christensen, P.R.; Gorevan, S.; Herkenhoff, K. E.; Klingelhofer, G.; Madsen, M.B.; Morris, R.V.; Rieder, R.; Romero, R.A.

2003-01-01

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 Mo??ssbauer 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. Copyright 2003 by the American Geophysical Union.

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.

Fish-eye View of NASA Curiosity Rover and its Powered Descent Vehicle

NASA Image and Video Library

2011-11-23

An engineer says goodbye to the Curiosity rover and its powered descent vehicle in the Jet Propulsion Laboratory Spacecraft Assembly Facility shortly before the spacecraft was readied for shipment to Kennedy Space Center for launch.

Mars Science Laboratory Rover Taking Shape

NASA Image and Video Library

2008-11-19

This image taken in August 2008 in a clean room at NASA JPL, Pasadena, Calif., shows NASA next Mars rover, the Mars Science Laboratory, in the course of its assembly, before additions of its arm, mast, laboratory instruments and other equipment.

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.

Assemby, test, and launch operations for the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Wallace, Matthew T.; Hardy, Paul V.; Romero, Raul A.; Salvo, Christopher G.; Shain, Thomas W.; Thompson, Arthur D.; Wirth, John W.

2005-01-01

In January of 2004, NASA's twin Mars rovers, Spirit and Opportunity, successfully landed on opposite sides of the Red Planet after a seven month Earth to Mars cruise period. Both vehicles have operated well beyond their 90 day primary mission design life requirements. The Assembly, Test, and Launch Operations (ATLO) program for these missions presented unique technical and schedule challenges to the team at the Jet Propulsion Laboratory (JPL). Among these challenges were a highly compressed schedule and late deliveries leading to extended double shift staffing, dual spacecraft operations requiring test program diversification and resource arbitration, multiple atypical test configurations for airbag/rocket landings and surface mobility testing, and verification of an exceptionally large number of separations, deployments, and mechanisms. This paper discusses the flight system test philosophies and approach, and presents lessons learned.

Design and Preliminary Thermal Performance of the Mars Science Laboratory Rover Heat Exchangers

NASA Technical Reports Server (NTRS)

Mastropietro, A. J.; Beatty, John; Kelly, Frank; Birur, Gajanana; Bhandari, Pradeep; Pauken, Michael; Illsley, Peter; Liu, Yuanming; Bame, David; Miller, Jennifer

2010-01-01

The challenging range of proposed landing sites for the Mars Science Laboratory Rover requires 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 degrees Centigrade and as warm as 38 degrees Centigrade, the Rover relies upon a Mechanically Pumped Fluid Loop (MPFL) and external radiators to maintain the temperature of sensitive electronics and science instruments within a -40 degrees Centigrade to 50 degrees Centigrade range. The MPFL also manages significant waste heat generated from the Rover power source, known as the Multi Mission Radioisotope Thermoelectric Generator (MMRTG). The MMRTG produces 110 Watts of electrical power while generating waste heat equivalent to approximately 2000 Watts. Two similar Heat Exchanger (HX) assemblies were designed to both acquire the heat from the MMRTG and radiate waste heat from the onboard electronics to the surrounding Martian environment. Heat acquisition is accomplished on the interior surface of each HX while heat rejection is accomplished on the exterior surface of each HX. Since these two surfaces need to be at very different temperatures in order for the MPFL to perform efficiently, they need to be thermally isolated from one another. The HXs were therefore designed for high in-plane thermal conductivity and extremely low through-thickness thermal conductivity by using aerogel as an insulator inside composite honeycomb sandwich panels. A complex assembly of hand welded and uniquely bent aluminum tubes are bonded onto the HX panels and were specifically designed to be easily mated and demated to the rest of the Rover Heat Recovery and Rejection System (RHRS) in order to ease the integration effort. During the cruise phase to Mars, the HX assemblies serve the additional function of transferring heat from the Rover MPFL to the separate Cruise Stage MPFL so that heat generated deep inside the Rover can be dissipated via the Cruise Stage radiators. Significant fabrication challenges had to be overcome in order to make the HX design a reality. The cruise phase thermal performance of the Rover HXs was verified in the cruise phase system level thermal vacuum test that was performed at JPL in January of 2009. The Rover HXs were modeled in I-DEAS TMG and predictions are compared to actual data from the test.

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.

KSC-03pd0209

NASA Image and Video Library

2003-01-28

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers lift the cover from the Mars Exploration Rover -2. 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 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.

KSC-03pd0212

NASA Image and Video Library

2003-01-28

KENNEDY SPACE CENTER, FLA. -- 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.

KSC-03pd0210

NASA Image and Video Library

2003-01-28

KENNEDY SPACE CENTER, FLA. -- In the Payload Hazardous Servicing Facility, workers get ready to remove the plastic covering from the Mars Exploration Rover -2. 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.

KSC-03pd0213

NASA Image and Video Library

2003-01-28

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility move the Mars Exploration Rover -2 to a workstand in the high bay. 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.

Autonomous Exploration for Gathering Increased Science

NASA Technical Reports Server (NTRS)

Bornstein, Benjamin J.; Castano, Rebecca; Estlin, Tara A.; Gaines, Daniel M.; Anderson, Robert C.; Thompson, David R.; DeGranville, Charles K.; Chien, Steve A.; Tang, Benyang; Burl, Michael C.;

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.

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.

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.

Performance Testing of Lithium Li-ion Cells and Batteries in Support of JPL's 2003 Mars Exploration Rover Mission

NASA Technical Reports Server (NTRS)

Smart, Marshall C.; Ratnakumar, B. V.; Ewell, R. C.; Whitcanack, L. D.; Surampudi, S.; Puglia, F.; Gitzendanner, R.

2007-01-01

In early 2004, JPL successfully landed two Rovers, named Spirit and Opportunity, on the surface of Mars after traveling > 300 million miles over a 6-7 month period. In order to operate for extended duration on the surface of Mars, both Rovers are equipped with rechargeable Lithium-ion batteries, which were designed to aid in the launch, correct anomalies during cruise, and support surface operations in conjunction with a triple-junction deployable solar arrays. The requirements of the Lithium-ion battery include the ability to provide power at least 90 sols on the surface of Mars, operate over a wide temperature range (-20(super 0)C to +40(super 0)C), withstand long storage periods (e.g., including pre-launch and cruise period), operate in an inverted position, and support high currents (e.g., firing pyro events). In order to determine the inability of meeting these requirements, ground testing was performed on a Rover Battery Assembly Unit RBAU), consisting of two 8-cell 8 Ah lithium-ion batteries connected in parallel. The RBAU upon which the performance testing was performed is nearly identical to the batteries incorporated into the two Rovers currently on Mars. The primary focus of this paper is to communicate the latest results regarding Mars surface operation mission simulation testing, as well as, the corresponding performance capacity loss and impedance characteristics as a function of temperature and life. As will be discussed, the lithium-ion batteries (fabricated by Yardney Technical Products, Inc.) have been demonstrated to far exceed the requirements defined by the mission, being able to support the operation of the rovers for over three years, and are projected to support an even further extended mission.

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

KSC-03pd0211

NASA Image and Video Library

2003-01-28

KENNEDY SPACE CENTER, FLA. - After being cleaned up, the Mars Exploration Rover -2 is ready to be 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.

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.

Simulation Based Studies of Low Latency Teleoperations for NASA Exploration Missions

NASA Technical Reports Server (NTRS)

Gernhardt, Michael L.; Crues, Edwin Z.; Bielski, Paul; Dexter, Dan; Litaker, Harry L.; Chappell, Steven P.; Beaton, Kara H.; Bekdash, Omar S.

2017-01-01

Human exploration of Mars will involve both crewed and robotic systems. Many mission concepts involve the deployment and assembly of mission support assets prior to crew arrival on the surface. Some of these deployment and assembly activities will be performed autonomously while others will be performed using teleoperations. However, significant communications latencies between the Earth and Mars make teleoperations challenging. Alternatively, low latency teleoperations are possible from locations in Mars orbit like Mars' moons Phobos and Deimos. To explore these latency opportunities, NASA is conducting a series of studies to investigate the effects of latency on telerobotic deployment and assembly activities. These studies are being conducted in laboratory environments at NASA's Johnson Space Center (JSC), the Human Exploration Research Analog (HERA) at JSC and the NASA Extreme Environment Mission Operations (NEEMO) underwater habitat off the coast of Florida. The studies involve two human-in-the-loop interactive simulations developed by the NASA Exploration Systems Simulations (NExSyS) team at JSC. The first simulation investigates manipulation related activities while the second simulation investigates mobility related activities. The first simulation provides a simple real-time operator interface with displays and controls for a simulated 6 degree of freedom end effector. The initial version of the simulation uses a simple control mode to decouple the robotic kinematic constraints and a communications delay to model latency effects. This provides the basis for early testing with more detailed manipulation simulations planned for the future. Subjects are tested using five operating latencies that represent teleoperation conditions from local surface operations to orbital operations at Phobos, Deimos and ultimately high Martian orbit. Subject performance is measured and correlated with three distance-to-target zones of interest. Each zone represents a target distance ranging from beyond 10m in Zone 1, through 1 cm to contact in Zone 5 with a step size factor of 10. Collected data consists of both objective simulation data (time, distance, hand controller inputs, velocity) and subjective questionnaire data. The second simulation provides a simple real-time operator interface with displays and control of a simulated surface rover. The rover traverses a synthetic Mars-like terrain and must be maneuvered to avoid obstacles while progressing to its destination. Like the manipulator simulation, subjects are tested using five operating latencies that represent teleoperation conditions from local surface operations to orbital operations at Phobos, Deimos and ultimately high Martian orbit. The rover is also operated at three different traverse speeds to assess the correlation between latency and speed. Collected data consisted of both objective simulation data (time, distance, hand controller inputs, braking) and subjective questionnaire data. These studies are exploring relationships between task complexity, operating speeds, operator efficiencies, and communications latencies for low latency teleoperations in support of human planetary exploration. This paper presents early results from these studies along with the current observations and conclusions. These and planned future studies will help to inform NASA on the potential for low latency teleoperations to support human exploration of Mars and inform the design of robotic systems and exploration missions.

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the first half of the fairing for the Mars Exploration Rover 2 (MER-2) is installed around the Mars Exploration Rover 2 (MER-2). MER-2 is one of NASA's twin Mars Exploration Rovers designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-2 is scheduled to launch no earlier than June 8 as MER-A, with two launch opportunities each day during the launch period that closes on June 19.

NASA Image and Video Library

2003-05-31

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the first half of the fairing for the Mars Exploration Rover 2 (MER-2) is installed around the Mars Exploration Rover 2 (MER-2). MER-2 is one of NASA's twin Mars Exploration Rovers designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-2 is scheduled to launch no earlier than June 8 as MER-A, with two launch opportunities each day during the launch period that closes on June 19.

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

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.

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the Boeing Delta II rocket and Mars Exploration Rover 2 (MER-A) are ready for the third launch attempt after weather concerns postponed earlier attempts. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-10

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the Boeing Delta II rocket and Mars Exploration Rover 2 (MER-A) are ready for the third launch attempt after weather concerns postponed earlier attempts. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

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.

KSC-03pd1221

NASA Image and Video Library

2003-04-23

KENNEDY SPACE CENTER, FLA. - The Mars Exploration Rover 2 (MER-A) is ready for final closure of the petals on the lander. The lander and rover will be enclosed within an aeroshell for launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA's two Mars Exploration Rover missions is scheduled no earlier than June 6.

KSC-03pd1223

NASA Image and Video Library

2003-04-23

KENNEDY SPACE CENTER, FLA. - While workers watch the process, the petals on the lander close up around the Mars Exploration Rover 2 (MER-A). The lander and rover will be enclosed within an aeroshell for launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA's two Mars Exploration Rover missions is scheduled no earlier than June 6.

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.

Mars Exploration Rovers 2004-2013: Evolving Operational Tactics Driven by Aging Robotic Systems

NASA Technical Reports Server (NTRS)

Townsend, Julie; Seibert, Michael; Bellutta, Paolo; Ferguson, Eric; Forgette, Daniel; Herman, Jennifer; Justice, Heather; Keuneke, Matthew; Sosland, Rebekah; Stroupe, Ashley;

Transforming Roving-Rolling Explorer (TRREx) for Planetary Exploration

NASA Astrophysics Data System (ADS)

Edwin, Lionel Ernest

All planetary surface exploration missions thus far have employed traditional rovers with a rocker-bogie suspension. These rovers can navigate moderately rough and flat terrain, but are not designed to traverse rugged terrain with steep slopes. The fact is, however, that many scientifically interesting missions require exploration platforms with capabilities for navigating such types of chaotic terrain. This issue motivates the development of new kinds of rovers that take advantage of the latest advances in robotic technologies to traverse rugged terrain efficiently. This dissertation proposes and analyses one such rover concept called the Transforming Roving-Rolling Explorer (TRREx) that is principally aimed at addressing the above issue. Biologically inspired by the way the armadillo curls up into a ball when threatened, and the way the golden wheel spider uses the dynamic advantages of a sphere to roll down hills when escaping danger, the novel TRREx rover can traverse like a traditional 6-wheeled rover over conventional terrain, but can also transform itself into a sphere, when necessary, to travel down steep inclines, or navigate rough terrain. This work presents the proposed design architecture and capabilities followed by the development of mathematical models and experiments that facilitate the mobility analysis of the TRREx in the rolling mode. The ability of the rover to self-propel in the rolling mode in the absence of a negative gradient increases its versatility and concept value. Therefore, a dynamic model of a planar version of the problem is first used to investigate the feasibility and value of such self-propelled locomotion - 'actuated rolling'. Construction and testing of a prototype Planar/Cylindrical TRREx that is capable of demonstrating actuated rolling is presented, and the results from the planar dynamic model are experimentally validated. This planar model is then built upon to develop a mathematical model of the spherical TRREx in the rolling mode, i.e. when the rover is a sphere and can steer itself through actuations that shift its center of mass to achieve the desired direction of roll. Case studies that demonstrate the capabilities of the rover in rolling mode and parametric analyses that investigate the dependence of the rover's mobility on its design are presented. This work highlights the contribution of the spherical rolling mode to the enhanced mobility of the TRREx rover and how it could enable challenging surface exploration missions in the future. It represents an important step toward developing a rover capable of traversing a variety of terrains that are impassible by the current fleet of rover designs, and thus has the potential to revolutionize planetary surface exploration.

So Happy Together

NASA Technical Reports Server (NTRS)

2008-01-01

These three images show the progression of 'stacking' the Mars Science Laboratory rover and its descent stage in one of the Jet Propulsion Laboratory's 'clean room.' In the first image, the car-size rover is in the middle of the picture with several team members surrounding it. The team members are all dressed in special head-to-toe white suits, called 'bunny suits.' One team member is holding on to a tether to guide the large insect-like descent stage down on top of the rover. The descent stage looms high in this image. The second image shows the descent stage a few feet above the rover with the team member continuing to guide the two pieces together. The final image shows the two pieces on top of each other.

Imagine taking a very long 10-month journey with someone you've just recently met! The assembly team successfully introduced the Mars Science Laboratory rover to one of its space travel partners. For the first time, it was coupled with its 'descent stage,' the part of the spacecraft that lowers the rover to the Martian surface.

Up until now, thousands of hands and minds have been making sure this pairing is a perfect fit ... on paper. The intricate parts of the rover and descent stage have all separately undergone some serious testing. Now that they're stacked together, their teams can see how they fit together in real life. With this match-making a success, the rover and descent stage will be joined with the protective case (the 'aeroshell') for more testing. But, these pieces aren't staying together forever! They'll be separated, checked, and assembled many more times before finally coming together just before launch.

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.

KENNEDY SPACE CENTER, FLA. - The second stage of the Delta II rocket is raised off the transporter for its lift up the launch tower on Pad 17-A, Cape Canaveral Air Force Station. It will be mated to the first stage in preparation for the launch of the Mars Exploration Rover 2 (MER-A). The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA’s two Mars Exploration Rover missions is scheduled June 5.

NASA Image and Video Library

2003-04-28

KENNEDY SPACE CENTER, FLA. - The second stage of the Delta II rocket is raised off the transporter for its lift up the launch tower on Pad 17-A, Cape Canaveral Air Force Station. It will be mated to the first stage in preparation for the launch of the Mars Exploration Rover 2 (MER-A). The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA’s two Mars Exploration Rover missions is scheduled June 5.

An Environmental Control and Life Support System Concept for a Pressurized Lunar Rover

NASA Technical Reports Server (NTRS)

Bagdigian, Robert M.; Stambaugh, Imelda

2010-01-01

Pressurized rovers can add many attractive capabilities to a human lunar exploration campaign, most notably by extending the reach of astronauts far beyond the immediate vicinities of lunar landers and fixed assets such as habitats. Effective campaigns will depend on an efficient allocation of environmental control and life support system (ECLSS) equipment amongst mobile rovers and fixed habitats such that widespread and sustainable exploration can be achieved. This paper will describe some of the key drivers that influence the design of an ECLSS for a pressurized lunar rover and a conceptual design that has been formulated to address those drivers. Opportunities to realize programmatic and operational efficiencies through commonality of rover ECLSS and extravehicular activity (EVA) equipment have also been explored and will be described. Plans for the inclusion of ECLSS functionality in prototype lunar rovers will be summarized

KSC-03pd1224

NASA Image and Video Library

2003-04-23

KENNEDY SPACE CENTER, FLA. - Workers check different areas of the lander as the petals close in around the Mars Exploration Rover 2 (MER-A). The lander and rover will subsequently be enclosed within an aeroshell for launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA's two Mars Exploration Rover missions is scheduled no earlier than June 6.

KSC-03pd1225

NASA Image and Video Library

2003-04-23

KENNEDY SPACE CENTER, FLA. - Workers check different areas of the lander as the petals close in around the Mars Exploration Rover 2 (MER-A). The lander and rover will subsequently be enclosed within an aeroshell for launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA's two Mars Exploration Rover missions is scheduled no earlier than June 6.

Operation and performance of the mars exploration rover imaging system on the martian surface

USGS Publications Warehouse

Maki, J.N.; Litwin, T.; Schwochert, M.; Herkenhoff, K.

2005-01-01

The Imaging System on the Mars Exploration Rovers has successfully operated on the surface of Mars for over one Earth year. The acquisition of hundreds of panoramas and tens of thousands of stereo pairs has enabled the rovers to explore Mars at a level of detail unprecedented in the history of space exploration. In addition to providing scientific value, the images also play a key role in the daily tactical operation of the rovers. The mobile nature of the MER surface mission requires extensive use of the imaging system for traverse planning, rover localization, remote sensing instrument targeting, and robotic arm placement. Each of these activity types requires a different set of data compression rates, surface coverage, and image acquisition strategies. An overview of the surface imaging activities is provided, along with a summary of the image data acquired to date. ?? 2005 IEEE.

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.

Mineralogy and geochemistry of the Meridiani landing site as determined by the Mars Exploration Rover Opportunity

NASA Astrophysics Data System (ADS)

Calvin, W. M.; Athena Science Team

The Meridiani Planum landing site was selected based on a unique mineralogical signature (coarse hematite) observed from orbit, as well as suitability for rover landing and operations. On January 25th (UTC) the spacecraft executed a flawless landing, placing the rover Opportunity inside a small crater. Navigation and panorama camera images (Navcam and Pancam) returned during the first days on the surface set the initial exploration goals for the rover and the Athena Science Payload. Within the crater is a rock outcrop unlike anything previously observed from the surface of Mars. Color and textural variations were immediately evident both in the outcrop and in soils, especially in conjunction with the final rolling trajectory of the lander system and the airbag retraction. First observations by the Mini-Thermal Emission Spectrometer (Mini-TES) confirmed the spectral signature of coarse-grained hematite seen from orbit and found significant spatial variability in the strength of this feature. Pancam data confirm that the hematite rich regions do not have a strong color variation. The rover executed Alpha-Particle X-Ray Spectrometer (APXS) and Moessbauer (MB) measurements on the soil immediately after egress from the lander. Opportunity then approached one end of the outcrop, obtaining APXS, MB, Mini-TES and Pancam spectral data in addition to 30 micrometers per pixel images from the Microscopic Imager (MI). This site revealed the small unusual spherical grains, dubbed "blueberries" by the Team, that are eroding from the outcrop, and a higher sulfur content than all previous measurements on Mars. We then proceeded with a systematic survey of the outcrop in three stops, performing Mini-TES and Pancam at each stop. A traverse was made to an area more rich in hematite (as determined by Mini-TES) where a trench into the soil was performed with accompanying pre- and post-trench measurements by all spectral instruments. Opportunity then returned to a high-priority target in the center of the outcrop, called El Capitan, where distinct differences were noted in Pancam observations of the upper and lower units. As of the abstract deadline, the rover was performing a systematic survey on both the upper and lower units and preparing for the first use of the Rock Abrasion Tool (RAT) on the lower outcrop unit with spectral observations by all instruments before and after "ratting". Surveys of the magnets mounted on the rover deck provides information on accumulated atmospheric dust. A summary of the chemical and mineralogical signatures determined by these measurements as well as targets yet to be explored outside the crater will be presented at the Assembly.

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.

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.

A Motor Drive Electronics Assembly for Mars Curiosity Rover: An Example of Assembly Qualification for Extreme Environments

NASA Technical Reports Server (NTRS)

Kolawa, Elizabeth; Chen, Yuan; Mojarradi, Mohammad M.; Tudryn Weber, Carissa

2013-01-01

In this paper, the technology development and infusion of the motor drive electronics assembly, along with the technology qualification and space qualification, is described and detailed. The process is an example of the qualification methodology for extreme environmen

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.

Dynamic modeling and mobility analysis of the transforming roving-rolling explorer (TRREx) as it Traverses Rugged Martian Terrain

NASA Astrophysics Data System (ADS)

Edwin, Lionel E.; Mazzoleni, Andre P.

2016-03-01

All planetary surface exploration missions thus far have employed traditional rovers with a rocker-bogie suspension. These rovers can navigate moderately rough and flat terrain, but are not designed to traverse rugged terrain with steep slopes. The fact is, however, that the most scientifically interesting missions require exploration platforms with capabilities for navigating such types of rugged terrain. This issue motivates the development of new kinds of rovers that take advantage of the latest advances in robotic technologies to traverse rugged terrain efficiently. This work analyzes one such rover concept called the Transforming Roving-Rolling Explorer (TRREx) that is principally aimed at addressing the above issue. Biologically inspired by the way the armadillo curls up into a ball when threatened, and the way the golden wheel spider uses the dynamic advantages of a sphere to roll down hills when escaping danger, the TRREx rover can traverse like a traditional 6-wheeled rover over conventional terrain, but can also transform itself into a sphere, when necessary, to travel down steep inclines, or navigate rough terrain. This paper investigates the mobility of the TRREx when it is in its rolling mode, i.e. when it is a sphere and can steer itself through actuations that shift its center of mass to achieve the desired direction of roll. A mathematical model describing the dynamics of the rover in this spherical configuration is presented, and actuated rolling is demonstrated through computer simulation. Parametric analyzes that investigate the rover's mobility as a function of its design parameters are also presented. This work highlights the contribution of the spherical rolling mode to the enhanced mobility of the TRREx rover and how it could enable challenging surface exploration missions in the future.

The Design of Two Nano-Rovers for Lunar Surface Exploration in the Context of the Google Lunar X Prize

NASA Astrophysics Data System (ADS)

Gill, E.; Honfi Camilo, L.; Kuystermans, P.; Maas, A. S. B. B.; Buutfeld, B. A. M.; van der Pols, R. H.

2008-09-01

This paper summarizes a study performed by ten students at the Delft University of Technology on a lunar exploration vehicle suited for competing in the Google Lunar X Prize1. The design philosophy aimed at a quick and simple design process, to comply with the mission constraints. This is achieved by using conventional technology and performing the mission with two identical rovers, increasing reliability and simplicity of systems. Both rovers are however capable of operating independently. The required subsystems have been designed for survival and operation on the lunar surface for an estimated mission lifetime of five days. This preliminary study shows that it is possible for two nano-rovers to perform the basic exploration tasks. The mission has been devised such that after launch the rovers endure a 160 hour voyage to the Moon after which they will land on Sinus Medii with a dedicated lunar transfer/lander vehicle. The mission outline itself has the two nano-rovers travelling in the same direction, moving simultaneously. This mission characteristic allows a quick take-over of the required tasks by the second rover in case of one rover breakdown. The main structure of the rovers will consist of Aluminium 2219 T851, due to its good thermal properties and high hardness. Because of the small dimensions of the rovers, the vehicles will use rigid caterpillar tracks as locomotion system. The track systems are sealed from lunar dust using closed track to prevent interference with the mechanisms. This also prevents any damage to the electronics inside the tracks. For the movement speed a velocity of 0.055 m/s has been determined. This is about 90% of the maximum rover velocity, allowing direct control from Earth. The rovers are operated by a direct control loop, involving the mission control center. In order to direct the rovers safely, a continuous video link with the Earth is necessary to assess its immediate surroundings. Two forward pointing navigational cameras aid the human controller by obtaining stereoscopic images. An additional navigational camera in the rear is used as a contingency to drive rearwards. All navigational cameras have a maximal resolution of 640 by 480 pixels. Each rover has one main High Definition (HD) camera capable of acquiring still images and videos. These cameras have a resolution of 1920 by 1080 pixels and a frame rate of 60 frames per second. Resolution and sampling rates can be modified to accommodate data transmission constraints. To comply with the self portrait requirement imposed by the Google Lunar X Prize, the rovers will take images of each other, capturing 50% of the surface exploration system on the still image. As a contingency, both vehicles are also capable composing self portraits from an assembly of multiple images of its own structure, similar to the panoramic images. The camera is positioned above the rover on a mast providing two degrees of freedom for the camera to be able to rotate 360º horizontally and from -45º to 90º vertically. Both rovers are equipped with an omni-directional antenna. A WiMax system is used for all communication with the lander vehicle. The communication is done via the commonly used TCP/IP, which can be easily integrated in the software systems of the mission. The lander vehicle itself will act as a relay station for the data transfer with the ground station on Earth. The selected Digital Signal Processor (D.S.P.) has been specifically designed for compressing raw HD format using little power. The D.S.P. is capable of compressing the raw video data while at the same time performing remaining tasks such as navigation. Since the D.S.P. is designed for Earth use, it has to be adapted to cope with the lunar environment. This can be achieved by proper implication of radiation shielding. As the primary power source Gallium-Arsenide solar panels are used. These are the most efficient solar panels to date. Additionally, a Lithium-Ion battery is used as the secondary power source. In total at least 45Wh of energy are needed to complete the mission. A passive thermal system has been found to comply with the thermal requirements of the rovers. Therefore white paint and optical solar reflectors are used. These have a high emissivity and low absorption. The most striking characteristic for the rover mission is the miniaturization of components, allowing a small and low-mass rover design. Also, the use of adapted offthe- shelf components would dramatically reduce costs with respect to proven space grade components. The typical short mission lifetime allows this approach. It must be noted however that to ensure correct functionality of these components in space, they have to be customized and adapted to cope with vacuum and high radiation levels. Based on the achieved results, the Delft University of Technology is currently looking for partnerships in further development of a design capable of competing in the Google Lunar X Prize.

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.

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.

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers lower the backshell with the Mars Exploration Rover 1 (MER-1) onto the heat shield. The two components form the aeroshell that will protect the rover on its journey to Mars. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

NASA Image and Video Library

2003-05-15

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers lower the backshell with the Mars Exploration Rover 1 (MER-1) onto the heat shield. The two components form the aeroshell that will protect the rover on its journey to Mars. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers check the attachment between the backshell (above) and heat shield (below) surrounding the Mars Exploration Rover 1 (MER-1). The aeroshell will protect the rover on its journey to Mars. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

NASA Image and Video Library

2003-05-15

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers check the attachment between the backshell (above) and heat shield (below) surrounding the Mars Exploration Rover 1 (MER-1). The aeroshell will protect the rover on its journey to Mars. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

KENNEDY SPACE CENTER, FLA. - The Mobile Service Tower is rolled back at Launch Complex 17A to reveal a Delta II rocket ready to launch the Mars Exploration Rover-A mission. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

NASA Image and Video Library

2003-06-08

KENNEDY SPACE CENTER, FLA. - The Mobile Service Tower is rolled back at Launch Complex 17A to reveal a Delta II rocket ready to launch the Mars Exploration Rover-A mission. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

Mars Exploration Rover surface operations: driving spirit at Gusev Crater

NASA Technical Reports Server (NTRS)

Leger, Chris; Trebi-Ollennu, Ashitey; Wright, John; Maxwell, Scott; Bonitz, Bob; Biesiadecki, Jeff; Hartman, Frank; Cooper, Brian; Baumgartner, Eric; Maimone, Mark

2005-01-01

Spirit is one of two rovers, that landed on Mars in January 2004 as part of NASA's Mars Exploration Rovers mission. Since then, Spirit has traveled over 4 kilometers accross the Martian surface while investigating rocks and soils, digging trenches to examine the subsurface environment, and climbing hills to reach outcrops of bedrock.

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.

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the launch tower begins to roll back from the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload in preparation for a second attempt at launch. The first attempt on June 8, 2003, was scrubbed due to bad weather in the vicinity. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-09

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the launch tower begins to roll back from the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload in preparation for a second attempt at launch. The first attempt on June 8, 2003, was scrubbed due to bad weather in the vicinity. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

KENNEDY SPACE CENTER, FLA. - The launch tower on Launch Complex 17-A, Cape Canaveral Air Force Station, clears the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload in preparation for a second attempt at launch. The first attempt on June 8, 2003, was scrubbed due to bad weather in the vicinity. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-09

KENNEDY SPACE CENTER, FLA. - The launch tower on Launch Complex 17-A, Cape Canaveral Air Force Station, clears the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload in preparation for a second attempt at launch. The first attempt on June 8, 2003, was scrubbed due to bad weather in the vicinity. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload are in the clear after tower rollback in preparation for a second attempt at launch. The first attempt on June 8, 2003, was scrubbed due to bad weather in the vicinity. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-09

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload are in the clear after tower rollback in preparation for a second attempt at launch. The first attempt on June 8, 2003, was scrubbed due to bad weather in the vicinity. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

KENNEDY SPACE CENTER, FLA. - The Delta II rocket with its Mars Exploration Rover (MER-A) payload leaps off the launch pad into the blue sky to begin its journey to Mars. Liftoff occurred on time at 1:58 p.m. EDT from Launch Complex 17-A, Cape Canaveral Air Force Station. MER-A, known as "Spirit," is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for the MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-10

KENNEDY SPACE CENTER, FLA. - The Delta II rocket with its Mars Exploration Rover (MER-A) payload leaps off the launch pad into the blue sky to begin its journey to Mars. Liftoff occurred on time at 1:58 p.m. EDT from Launch Complex 17-A, Cape Canaveral Air Force Station. MER-A, known as "Spirit," is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for the MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload are free of the tower and ready for launch. This will be the third launch attempt in as many days after weather concerns postponed the launches June 8 and June 9. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-10

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload are free of the tower and ready for launch. This will be the third launch attempt in as many days after weather concerns postponed the launches June 8 and June 9. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

KENNEDY SPACE CENTER, FLA. - With smoke and steam billowing beneath, the Delta II rocket with its Mars Exploration Rover (MER-A) payload leaps off the launch pad into the blue sky to begin its journey to Mars. Liftoff occurred on time at 1:58 p.m. EDT from Launch Complex 17-A, Cape Canaveral Air Force Station. MER-A, known as "Spirit," is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for the MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-10

KENNEDY SPACE CENTER, FLA. - With smoke and steam billowing beneath, the Delta II rocket with its Mars Exploration Rover (MER-A) payload leaps off the launch pad into the blue sky to begin its journey to Mars. Liftoff occurred on time at 1:58 p.m. EDT from Launch Complex 17-A, Cape Canaveral Air Force Station. MER-A, known as "Spirit," is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for the MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

KENNEDY SPACE CENTER, FLA. - Leaving smoke and steam behind, the Delta II rocket with its Mars Exploration Rover (MER-A) payload lifts off the pad on time at 1:58 p.m. EDT from Launch Complex 17-A, Cape Canaveral Air Force Station. MER-A, known as "Spirit," is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for the MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-10

KENNEDY SPACE CENTER, FLA. - Leaving smoke and steam behind, the Delta II rocket with its Mars Exploration Rover (MER-A) payload lifts off the pad on time at 1:58 p.m. EDT from Launch Complex 17-A, Cape Canaveral Air Force Station. MER-A, known as "Spirit," is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for the MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload are free of the tower (right) and ready for launch. This will be the third launch attempt in as many days after weather concerns postponed the launches June 8 and June 9. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-10

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload are free of the tower (right) and ready for launch. This will be the third launch attempt in as many days after weather concerns postponed the launches June 8 and June 9. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the launch tower begins to roll back from the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload in preparation for another launch attempt. The first two attempts were postponed due to weather concerns. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-10

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the launch tower begins to roll back from the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload in preparation for another launch attempt. The first two attempts were postponed due to weather concerns. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload are viewed as the launch tower overhead rolls back. This will be the third launch attempt in as many days after weather concerns postponed the launches June 8 and June 9. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-10

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload are viewed as the launch tower overhead rolls back. This will be the third launch attempt in as many days after weather concerns postponed the launches June 8 and June 9. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload are free of the tower and ready for launch. This will be the third launch attempt in as many days after weather concerns postponed the launches June 8 and June 9. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-10

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload are free of the tower and ready for launch. This will be the third launch attempt in as many days after weather concerns postponed the launches June 8 and June 9. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

KENNEDY SPACE CENTER, FLA. - The Delta II rocket with its Mars Exploration Rover (MER-A) payload breaks forth from the smoke and steam into the blue sky to begin its journey to Mars. Liftoff occurred on time at 1:58 p.m. EDT from Launch Complex 17-A, Cape Canaveral Air Force Station. MER-A, known as "Spirit," is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for the MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25

NASA Image and Video Library

2003-06-10

KENNEDY SPACE CENTER, FLA. - The Delta II rocket with its Mars Exploration Rover (MER-A) payload breaks forth from the smoke and steam into the blue sky to begin its journey to Mars. Liftoff occurred on time at 1:58 p.m. EDT from Launch Complex 17-A, Cape Canaveral Air Force Station. MER-A, known as "Spirit," is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for the MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25

KENNEDY SPACE CENTER, FLA. - The Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload is viewed from under the launch tower as it moves away on Launch Complex 17-A, Cape Canaveral Air Force Station. This will be a second attempt at launch. The first attempt on June 8, 2003, was scrubbed due to bad weather in the vicinity. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-09

KENNEDY SPACE CENTER, FLA. - The Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload is viewed from under the launch tower as it moves away on Launch Complex 17-A, Cape Canaveral Air Force Station. This will be a second attempt at launch. The first attempt on June 8, 2003, was scrubbed due to bad weather in the vicinity. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

KENNEDY SPACE CENTER, FLA. - The launch tower (right) on Launch Complex 17-A, Cape Canaveral Air Force Station, has been rolled back from the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload (left) in preparation for a second attempt at launch. The first attempt on June 8, 2003, was scrubbed due to bad weather in the vicinity. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-09

KENNEDY SPACE CENTER, FLA. - The launch tower (right) on Launch Complex 17-A, Cape Canaveral Air Force Station, has been rolled back from the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload (left) in preparation for a second attempt at launch. The first attempt on June 8, 2003, was scrubbed due to bad weather in the vicinity. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

KENNEDY SPACE CENTER, FLA. - Amid billows of smoke and steam, the Delta II rocket with its Mars Exploration Rover (MER-A) payload lifts off the pad on time at 1:58 p.m. EDT from Launch Complex 17-A, Cape Canaveral Air Force Station. MER-A, known as "Spirit," is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for the MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-10

KENNEDY SPACE CENTER, FLA. - Amid billows of smoke and steam, the Delta II rocket with its Mars Exploration Rover (MER-A) payload lifts off the pad on time at 1:58 p.m. EDT from Launch Complex 17-A, Cape Canaveral Air Force Station. MER-A, known as "Spirit," is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for the MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload waits for rollback of the launch tower in preparation for a second attempt at launch. The first attempt on June 8, 2003, was scrubbed due to bad weather in the vicinity. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-09

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload waits for rollback of the launch tower in preparation for a second attempt at launch. The first attempt on June 8, 2003, was scrubbed due to bad weather in the vicinity. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the launch tower rolls back from the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload in preparation for another launch attempt. The first two attempts, June 8 and June 9, were postponed due to weather concerns. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-10

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the launch tower rolls back from the Boeing Delta II rocket and its Mars Exploration Rover (MER-A) payload in preparation for another launch attempt. The first two attempts, June 8 and June 9, were postponed due to weather concerns. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

KENNEDY SPACE CENTER, FLA. - Blue sky and sun give a dramatic backdrop for the launch of the Delta II rocket with its Mars Exploration Rover (MER-A) payload. Liftoff occurred on time at 1:58 p.m. EDT from Launch Complex 17-A, Cape Canaveral Air Force Station. MER-A, known as "Spirit," is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for the MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-10

KENNEDY SPACE CENTER, FLA. - Blue sky and sun give a dramatic backdrop for the launch of the Delta II rocket with its Mars Exploration Rover (MER-A) payload. Liftoff occurred on time at 1:58 p.m. EDT from Launch Complex 17-A, Cape Canaveral Air Force Station. MER-A, known as "Spirit," is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for the MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

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 soil sensors,(1) the Wheel Leg Soil Interaction Observation (WLSIO) system, and (2) a Dynamic Plate (DP). These two soil sensors are designed by [2] and proposed to evaluate the trafficability of terrain in front of the primary rover. While the main body houses the WLSIO system, the DP sensor is mounted to the rover via an electro-mechanical interface (EMI) [7], providing a modular payload bay. Within the FASTER approach the scout rover will travel ahead of a primary exploration rover acting as 'remote' sensor platform. This requires a specialized software setup for the scout rover, allowing to safely follow a predefined path while conducting soil measurements. The general operational concept of the scout rover acting in a dual rover team is addressed while focusing on the scout rover software implementation to allow autonomous traversal. A set of integration tests for dual rover operations is planned using the Coyote II and/or Coyote III platforms. Furthermore, it is intended to perform proof of concept field trials with Coyote III as scout rover and the ExoMars breadboard BRIDGET [1] as primary rover. Along with the test results from interface integration testing, the first test results of dual rover field operation may be presented.

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 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.

Robot Science Autonomy in the Atacama Desert and Beyond

NASA Technical Reports Server (NTRS)

Thompson, David R.; Wettergreen, David S.

2013-01-01

Science-guided autonomy augments rovers with reasoning to make observations and take actions related to the objectives of scientific exploration. When rovers can directly interpret instrument measurements then scientific goals can inform and adapt ongoing navigation decisions. These autonomous explorers will make better scientific observations and collect massive, accurate datasets. In current astrobiology studies in the Atacama Desert we are applying algorithms for science autonomy to choose effective observations and measurements. Rovers are able to decide when and where to take follow-up actions that deepen scientific understanding. These techniques apply to planetary rovers, which we can illustrate with algorithms now used by Mars rovers and by discussing future missions.

Solar System Visualizations

NASA Technical Reports Server (NTRS)

Brown, Alison M.

2005-01-01

Solar System Visualization products enable scientists to compare models and measurements in new ways that enhance the scientific discovery process, enhance the information content and understanding of the science results for both science colleagues and the public, and create.visually appealing and intellectually stimulating visualization products. Missions supported include MER, MRO, and Cassini. Image products produced include pan and zoom animations of large mosaics to reveal the details of surface features and topography, animations into registered multi-resolution mosaics to provide context for microscopic images, 3D anaglyphs from left and right stereo pairs, and screen captures from video footage. Specific products include a three-part context animation of the Cassini Enceladus encounter highlighting images from 350 to 4 meter per pixel resolution; Mars Reconnaissance Orbiter screen captures illustrating various instruments during assembly and testing at the Payload Hazardous Servicing Facility at Kennedy Space Center; and an animation of Mars Exploration Rover Opportunity's 'Rub al Khali' panorama where the rover was stuck in the deep fine sand for more than a month. This task creates new visualization products that enable new science results and enhance the public's understanding of the Solar System and NASA's missions of exploration.

KSC-03pd0516

NASA Image and Video Library

2003-02-19

KENNEDY SPACE CENTER, FLA. - At NASA's Family & Community Mars Exploration Day, held in Cape Canaveral, Fla., James Garvin, lead scientist for the Mars Exploration Program, talks to students about the Mars Exploration Rover. Garvin is standing next to a replica of the Rover. The event informed students and the general public about Florida's key role as NASA's "Gateway to Mars" and offered an opportunity to meet with scientists, engineers, educators and others working Mars exploration missions. The Mars Exploration Rovers are being prepared for launch this spring aboard Boeing Delta II rockets from the Cape Canaveral Air Force Station. They will land on Mars and start exploring in January 2004.

KSC-03PD-0516

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. - At NASA's Family & Community Mars Exploration Day, held in Cape Canaveral, Fla., James Garvin, lead scientist for the Mars Exploration Program, talks to students about the Mars Exploration Rover. Garvin is standing next to a replica of the Rover. The event informed students and the general public about Florida's key role as NASA's 'Gateway to Mars' and offered an opportunity to meet with scientists, engineers, educators and others working Mars exploration missions. The Mars Exploration Rovers are being prepared for launch this spring aboard Boeing Delta II rockets from the Cape Canaveral Air Force Station. They will land on Mars and start exploring in January 2004.

KENNEDY SPACE CENTER, FLA. - The Mars Exploration Rover 2 (MER-2) undergoes a weight and center of gravity determination in the Payload Hazardous Servicing Facility. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. Launch of MER-2 is scheduled for June 5 from Cape Canaveral Air Force Station.

NASA Image and Video Library

2003-05-09

KENNEDY SPACE CENTER, FLA. - The Mars Exploration Rover 2 (MER-2) undergoes a weight and center of gravity determination in the Payload Hazardous Servicing Facility. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. Launch of MER-2 is scheduled for June 5 from Cape Canaveral Air Force Station.

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility prepare the Mars Exploration Rover 2 (MER-2) for a weight and center of gravity determination. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. Launch of MER-2 is scheduled for June 5 from Cape Canaveral Air Force Station.

NASA Image and Video Library

2003-05-09

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility prepare the Mars Exploration Rover 2 (MER-2) for a weight and center of gravity determination. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. Launch of MER-2 is scheduled for June 5 from Cape Canaveral Air Force Station.

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility are preparing to determine weight and center of gravity for the Mars Exploration Rover 2 (MER-2). NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. Launch of MER-2 is scheduled for June 5 from Cape Canaveral Air Force Station.

NASA Image and Video Library

2003-05-09

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility are preparing to determine weight and center of gravity for the Mars Exploration Rover 2 (MER-2). NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. Launch of MER-2 is scheduled for June 5 from Cape Canaveral Air Force Station.

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers prepare to mate the Mars Exploration Rover-2 (MER-2) to the third stage of a Delta II rocket for launch on June 5. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-1 (MER-B) will launch June 25.

NASA Image and Video Library

2003-05-23

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers prepare to mate the Mars Exploration Rover-2 (MER-2) to the third stage of a Delta II rocket for launch on June 5. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-1 (MER-B) will launch June 25.

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, the Mars Exploration Rover 2 (MER-2) is moved to a spin table. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. The MER-2 is scheduled to launch June 5 from Launch Pad 17-A, Cape Canaveral Air Force Station.

NASA Image and Video Library

2003-05-19

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, the Mars Exploration Rover 2 (MER-2) is moved to a spin table. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. The MER-2 is scheduled to launch June 5 from Launch Pad 17-A, Cape Canaveral Air Force Station.

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers mate the Mars Exploration Rover-2 (MER-2) to the third stage of a Delta II rocket for launch on June 5. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-1 (MER-B) will launch June 25.

NASA Image and Video Library

2003-05-23

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers mate the Mars Exploration Rover-2 (MER-2) to the third stage of a Delta II rocket for launch on June 5. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-1 (MER-B) will launch June 25.

Multiple-Agent Air/Ground Autonomous Exploration Systems

NASA Technical Reports Server (NTRS)

Fink, Wolfgang; Chao, Tien-Hsin; Tarbell, Mark; Dohm, James M.

2007-01-01

Autonomous systems of multiple-agent air/ground robotic units for exploration of the surfaces of remote planets are undergoing development. Modified versions of these systems could be used on Earth to perform tasks in environments dangerous or inaccessible to humans: examples of tasks could include scientific exploration of remote regions of Antarctica, removal of land mines, cleanup of hazardous chemicals, and military reconnaissance. A basic system according to this concept (see figure) would include a unit, suspended by a balloon or a blimp, that would be in radio communication with multiple robotic ground vehicles (rovers) equipped with video cameras and possibly other sensors for scientific exploration. The airborne unit would be free-floating, controlled by thrusters, or tethered either to one of the rovers or to a stationary object in or on the ground. Each rover would contain a semi-autonomous control system for maneuvering and would function under the supervision of a control system in the airborne unit. The rover maneuvering control system would utilize imagery from the onboard camera to navigate around obstacles. Avoidance of obstacles would also be aided by readout from an onboard (e.g., ultrasonic) sensor. Together, the rover and airborne control systems would constitute an overarching closed-loop control system to coordinate scientific exploration by the rovers.

Anomalistic Disturbance Torques during the Entry Phase of the Mars Exploration Rover Missions: A Telemetry and Mars-Surface Investigation

NASA Technical Reports Server (NTRS)

Tolson, Robert H.; Willcockson, William H.; Desai, Prasun N.; Thomas, Paige

2006-01-01

Shortly after landing on Mars, post-flight analysis of the "Spirit" entry data suggested that the vehicle experienced large, anomalistic oscillations in angle-of-attack starting at about M=6. Similar analysis for "Opportunity " found even larger oscillations starting immediately after maximum dynamic pressure at M=14. Where angles-of-attack of 1-2 degrees were expected from maximum dynamic pressure to drogue deployment, the reconstructions suggested 4 to 9 degrees. The next Mars lander, 2007 Phoenix project, was concerned enough to recommend further exploration of the anomalies. Detailed analysis of "Opportunity" data found significant anomalies in the hypersonic aerodynamic torques. The analysis showed that these torques were essentially fixed in the spinning vehicle. Nearly a year after landing, the "Oportunity" rover took pictures of its aeroshell on the surface, which showed that portions of the aeroshell thermal blanket assembly still remained. This blanket assembly was supposed to burn off very early in the entry. An analysis of the aeroshell photographs led to an estimate of the aerodynamic torques that the remnants could have produced. A comparison of two estimates of the aerodynamic torque perturbations (one extracted from telemetry data and the other from Mars surface photographs) showed exceptional agreement. Trajectory simulations using a simple data derived torque perturbation model provided rigid body motions similar to that observed during the "Opportunity" entry. Therefore, the case of the anomalistic attitude behavior for the "Opportunity" EDL is now considered closed and a suggestion is put forth that a similar event occurred for the "Spirit" entry as well.

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

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.

Airbag Seams Leave Trails

NASA Technical Reports Server (NTRS)

2004-01-01

This image taken by the Mars Exploration Rover Opportunity's panoramic camera shows where the rover's airbag seams left impressions in the martian soil. The drag marks were made after the rover successfully landed at Meridiani Planum and its airbags were retracted. The rover can be seen in the foreground.

Airbag Impressions in Soil

NASA Technical Reports Server (NTRS)

2004-01-01

This image taken by the Mars Exploration Rover Opportunity's panoramic camera shows where the rover's airbags left impressions in the martian soil. The drag marks were made after the rover successfully landed at Meridiani Planum and its airbags were retracted. The rover can be seen in the foreground.

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.

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.

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.

Low Cost Mars Surface Exploration: The Mars Tumbleweed

NASA Technical Reports Server (NTRS)

Antol, Jeffrey; Calhoun, Philip; Flick, John; Hajos, Gregory; Kolacinski, Richard; Minton, David; Owens, Rachel; Parker, Jennifer

2003-01-01

The "Mars Tumbleweed," a rover concept that would utilize surface winds for mobility, is being examined as a low cost complement to the current Mars exploration efforts. Tumbleweeds carrying microinstruments would be driven across the Martian landscape by wind, searching for areas of scientific interest. These rovers, relatively simple, inexpensive, and deployed in large numbers to maximize coverage of the Martian surface, would provide a broad scouting capability to identify specific sites for exploration by more complex rover and lander missions.

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.

Novelty Detection in and Between Different Modalities

NASA Astrophysics Data System (ADS)

Veflingstad, Henning; Yildirim, Sule

2008-01-01

Our general aim is to reflect the advances in artificial intelligence and cognitive science fields to space exploration studies such that next generation space rovers can benefit from these advances. We believe next generation space rovers can benefit from the studies related to employing conceptual representations in generating structured thought. This way, rovers need not be equipped with all necessary steps of an action plan to execute in space exploration but they can autonomously form representations of their world and reason on them to make intelligent decision. As part of this approach, autonomous novelty detection is an important feature of next generation space rovers. This feature allows a rover to make further decisions about exploring a rock sample more closely or not and on its own. This way, a rover will use less of its time for communication between the earth and itself and more of its time for achieving its assigned tasks in space. In this paper, we propose an artificial neural network based novelty detection mechanism that next generation space rovers can employ as part of their intelligence. We also present an implementation of such a mechanism and present its reliability in detecting novelty.

Dust Spectra from Above and Below

NASA Technical Reports Server (NTRS)

2004-01-01

Spectra of martian dust taken by the Mars Exploration Rover Spirit's mini-thermal emission spectrometer are compared to that of the orbital Mars Global Surveyor's thermal emission spectrometer. The graph shows that the two instruments are in excellent agreement.

Rover Senses Carbon Dioxide [figure removed for brevity, see original site] Click on image for larger view

This graph, consisting of data acquired on Mars from the Mars Exploration Rover Spirit's mini-thermal emission spectrometer, shows the light, or spectral, signature of carbon dioxide. Carbon dioxide makes up the bulk of the thin martian atmosphere.

Rover Senses Silicates [figure removed for brevity, see original site] Click on image for larger view

This graph, consisting of data acquired on Mars by the Mars Exploration Rover Spirit's mini-thermal emission spectrometer, shows the light, or spectral, signature of silicates - a group of minerals that form the majority of Earth's crust. Minerals called feldspars and zeolites are likely candidates responsible for this feature.

Rover Senses Bound Water [figure removed for brevity, see original site] Click on image for larger view

This graph, consisting of data acquired on Mars from the Mars Exploration Rover Spirit's mini-thermal emission spectrometer, shows the light, or spectral, signature of an as-of-yet unidentified mineral that contains bound water in its crystal structure. Minerals such as gypsum and zeolites are possible candidates.

Rover Senses Carbonates [figure removed for brevity, see original site] Click on image for larger view

This graph, consisting of data from the Mars Exploration Rover Spirit's mini-thermal emission spectrometer, shows the light, or spectral, signatures of carbonates - minerals common to Earth that form only in water. The detection of trace amounts of carbonates on Mars may be due to an interaction between the water vapor in the atmosphere and minerals on the surface.

In Situ Resource Utilization For Mobility In Mars Exploration

NASA Astrophysics Data System (ADS)

Hartman, Leo

There has been considerable interest in the unmanned exploration of Mars for quite some time but the current generation of rovers can explore only a small portion of the total planetary surface. One approach to addressing this deficiency is to consider a rover that has greater range and that is cheaper so that it can be deployed in greater numbers. The option explored in this paper uses the wind to propel a rover platform, trading off precise navigation for greater range. The capabilities of such a rover lie between the global perspective of orbiting satellites and the detailed local analysis of current-generation rovers. In particular, the design includes two inflatable wheels with an unspun payload platform suspended between then. Slightly deflating one of the wheels enables steering away from the direction of the wind and sufficiently deflating both wheels will allow the rover to stop. Current activities revolve around the development of a prototype with a wheel cross-sectional area that is scaled by 1/100 to enable terrestrial trials to provide meaningful insight into the performance and behavior of a full-sized rover on Mars. The paper will discuss the design and its capabilities in more detail as well as current efforts to build a prototype suitable for deployment at a Mars analogue site such as Devon Island in the Canadian arctic.

KSC-03pd1219

NASA Image and Video Library

2003-04-23

KENNEDY SPACE CENTER, FLA. - On Pad 17-A, Cape Canaveral Air Force Station, the first stage of the Delta II rocket is lifted up the launch tower. The Delta will launch the Mars Exploration Rover (MER-A) vehicle. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA's two Mars Exploration Rover missions is scheduled no earlier than June 6.

KSC-03pd1215

NASA Image and Video Library

2003-04-23

KENNEDY SPACE CENTER, FLA. - On Pad 17-A, Cape Canaveral Air Force Station, the first stage of the Delta II rocket is nearly vertical in the launch tower. The Delta will launch the Mars Exploration Rover (MER-A) vehicle. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA's two Mars Exploration Rover missions is scheduled no earlier than June 6.

KSC-03pd1220

NASA Image and Video Library

2003-04-23

KENNEDY SPACE CENTER, FLA. - On Pad 17-A, Cape Canaveral Air Force Station, the first stage of the Delta II rocket is lifted up the launch tower. The Delta will launch the Mars Exploration Rover (MER-A) vehicle. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA's two Mars Exploration Rover missions is scheduled no earlier than June 6.

KSC-03pd1213

NASA Image and Video Library

2003-04-23

KENNEDY SPACE CENTER, FLA. - On Pad 17-A, Cape Canaveral Air Force Station, the first stage of the Delta II rocket is lifted to vertical at the launch tower. The Delta will launch the Mars Exploration Rover (MER-A) vehicle. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA's two Mars Exploration Rover missions is scheduled no earlier than June 6.

The Challenges of Designing the Rocker-Bogie Suspension for the Mars Exploration Rover

NASA Technical Reports Server (NTRS)

Harrington, Brian D.; Voorhees, Chris

2004-01-01

Over the past decade, the rocker-bogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacle-climbing capability. Following several technology and research rover implementations, the system was successfully flown as part of Mars Pathfinder s Sojourner rover. When the Mars Exploration Rover (MER) Project was first proposed, the use of a rocker-bogie suspension was the obvious choice due to its extensive heritage. The challenge posed by MER was to design a lightweight rocker-bogie suspension that would permit the mobility to stow within the limited space available and deploy into a configuration that the rover could then safely use to egress from the lander and explore the Martian surface. This paper will describe how the MER rocker-bogie suspension subsystem was able to meet these conflicting design requirements while highlighting the variety of deployment and latch mechanisms employed in the design.

Walking a Fine Line

NASA Technical Reports Server (NTRS)

Bothwell, Mary

2004-01-01

My division was charged with building a suite of cameras for the Mars Exploration Rover (MER) project. We were building the science cameras on the mass assembly, the microscope camera, and the hazard and navigation cameras for the rovers. Not surprisingly, a lot of folks were paying attention to our work - because there's really no point in landing on Mars if you can't take pictures. In Spring 2002 things were not looking good. The electronics weren't coming in, and we had to go back to the vendors. The vendors would change the design, send the boards back, and they wouldn't work. On our side, we had an instrument manager in charge who I believe has the potential to become a great manager, but when things got behind schedule he didn't have the experience to know what was needed to catch up. As division manager, I was ultimately responsible for seeing that all my project and instrument managers delivered their work. I had to make the decision whether or not to replace him.

KSC-03pd0515

NASA Image and Video Library

2003-02-19

KENNEDY SPACE CENTER, FLA. -- In a demonstration of the agility of the Mars Exploration Rover, a model of the Rover rolls over the prone bodies of two volunteer students during NASA's Family & Community Mars Exploration Day held in Cape Canaveral, Fla. The event informed students and the general public about Florida's key role as NASA's "Gateway to Mars" and offered an opportunity to meet with scientists, engineers, educators and others working Mars exploration missions. The Mars Exploration Rovers are being prepared for launch this spring aboard Boeing Delta II rockets from the Cape Canaveral Air Force Station. They will land on Mars and start exploring in January 2004.

KSC-03PD-0515

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. -- In a demonstration of the agility of the Mars Exploration Rover, a model of the Rover rolls over the prone bodies of two volunteer students during NASA's Family & Community Mars Exploration Day held in Cape Canaveral, Fla. The event informed students and the general public about Florida's key role as NASA's 'Gateway to Mars' and offered an opportunity to meet with scientists, engineers, educators and others working Mars exploration missions. The Mars Exploration Rovers are being prepared for launch this spring aboard Boeing Delta II rockets from the Cape Canaveral Air Force Station. They will land on Mars and start exploring in January 2004.

Pathfinder Lander Rover Recharge System, and MARCO POLO Controls and ACME Regolith Feed System Controls and Integration

NASA Technical Reports Server (NTRS)

Tran, Sarah Diem

2015-01-01

This project stems from the Exploration, Research, and Technology Directorate (UB) Projects Division, and one of their main initiatives is the "Journey to Mars". Landing on the surface of Mars which is millions of miles away is an incredibly large challenge. The terrain is covered in boulders, deep canyons, volcanic mountains, and spotted with sand dunes. The robotic lander is a kind of spacecraft with multiple purposes. One purpose is to be the protective shell for the Martian rover and absorb the impact from the landing forces; another purpose is to be a place where the rovers can come back to, actively communicate with, and recharge their batteries from. Rovers have been instrumental to the Journey to Mars initiative. They have been performing key research on the terrain of the red planet, trying to unlock the mysteries of the land for over a decade. The rovers that will need charging will not all have the same kind of internal battery either. RASSOR batteries may differ from the PbAC batteries inside Red Rover's chassis. NASA has invested heavily in the exploration of the surface of Mars. A driving force behind further exploration is the need for a more efficient operation of Martian rovers. One way is to reduce the weight as much as possible to reduce power consumption given the same mission parameters. In order to reduce the mass of the rovers, power generation, communication, and sample analysis systems currently onboard Martian rovers can be moved to a stationary lander deck. Positioning these systems from the rover to the Lander deck allows a taskforce of smaller, lighter rovers to perform the same tasks currently performed by or planned for larger rovers. A major task in transferring these systems to a stationary lander deck is ensuring that power can be transferred to the rovers.

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.

Evolving directions in NASA's planetary rover requirements and technology

NASA Technical Reports Server (NTRS)

Weisbin, C. R.; Montemerlo, Mel; Whittaker, W.

1993-01-01

The evolution of NASA's planning for planetary rovers (that is robotic vehicles which may be deployed on planetary bodies for exploration, science analysis, and construction) and some of the technology that was developed to achieve the desired capabilities is reviewed. The program is comprised of a variety of vehicle sizes and types in order to accommodate a range of potential user needs. This includes vehicles whose weight spans a few kilograms to several thousand kilograms; whose locomotion is implemented using wheels, tracks, and legs; and whose payloads vary from microinstruments to large scale assemblies for construction. Robotic vehicles and their associated control systems, developed in the late 1980's as part of a proposed Mars Rover Sample Return (MRSR) mission, are described. Goals suggested at the time for such a MRSR mission included navigating for one to two years across hundreds of kilometers of Martian surface; traversing a diversity of rugged, unknown terrain; collecting and analyzing a variety of samples; and bringing back selected samples to the lander for return to Earth. Current plans (considerably more modest) which have evolved both from technological 'lessons learned' in the previous period, and modified aspirations of NASA missions are presented. Some of the demonstrated capabilities of the developed machines and the technologies which made these capabilities possible are described.

Miniature Thermal Emission Spectrometer for the Mars Exploration Rovers

NASA Astrophysics Data System (ADS)

Christensen, Philip R.; Mehall, Greg L.; Silverman, Steven H.; Anwar, Saadat; Cannon, George; Gorelick, Noel; Kheen, Rolph; Tourville, Tom; Bates, Duane; Ferry, Steven; Fortuna, Teresa; Jeffryes, John; O'Donnell, William; Peralta, Richard; Wolverton, Thomas; Blaney, Diana; Denise, Robert; Rademacher, Joel; Morris, Richard V.; Squyres, Steven

2003-12-01

The Miniature Thermal Emission Spectrometer (Mini-TES) will provide remote measurements of mineralogy and thermophysical properties of the scene surrounding the Mars Exploration Rovers and guide the rovers to key targets for detailed in situ measurements by other rover experiments. The specific scientific objectives of the Mini-TES investigation are to (1) determine the mineralogy of rocks and soils, (2) determine the thermophysical properties of selected soil patches, and (3) determine the temperature profile, dust and water-ice opacity, and water vapor abundance in the lower atmospheric boundary layer. The Mini-TES is a Fourier Transform Spectrometer covering the spectral range 5-29 μm (339.50 to 1997.06 cm-1) with a spectral sample interval of 9.99 cm-1. The Mini-TES telescope is a 6.35-cm-diameter Cassegrain telescope that feeds a flat-plate Michelson moving mirror mounted on a voice-coil motor assembly. A single deuterated triglycine sulfate (DTGS) uncooled pyroelectric detector with proven space heritage gives a spatial resolution of 20 mrad; an actuated field stop can reduce the field of view to 8 mrad. Mini-TES is mounted within the rover's Warm Electronics Box and views the terrain using its internal telescope looking up the hollow shaft of the Pancam Mast Assembly (PMA) to the fixed fold mirror and rotating elevation scan mirror in the PMA head located ~1.5 m above the ground. The PMA provides a full 360°of azimuth travel and views from 30° above the nominal horizon to 50° below. An interferogram is collected every two seconds and transmitted to the Rover computer, where the Fast Fourier Transform, spectral summing, lossless compression, and data formatting are performed prior to transmission to Earth. Radiometric calibration is provided by two calibration V-groove blackbody targets instrumented with platinum thermistor temperature sensors with absolute temperature calibration of +/-0.1°C. One calibration target is located inside the PMA head; the second is on the Rover deck. The Mini-TES temperature is expected to vary diurnally from -10 to +30°C, with most surface composition data collected at scene temperatures >270 K. For these conditions the radiometric precision for two-spectra summing is +/-1.8 × 10-8 W cm-2 sr-1/cm-1 between 450 and 1500 cm-1, increasing to ~4.2 × 10-8 W cm-2 sr-1/cm-1 at shorter (300 cm-1) and longer (1800 cm-1) wave numbers. The absolute radiance error will be <5 × 10-8 W cm-2 sr-1/cm-1, decreasing to ~1 × 10-8 W cm-2 sr-1/cm-1 over the wave number range where the scene temperature will be determined (1200-1600 cm-1). The worst-case sum of these random and systematic radiance errors corresponds to an absolute temperature error of ~0.4 K for a true surface temperature of 270 K and ~1.5 K for a surface at 180 K. The Mini-TES will be operated in a 20-mrad panorama mode and an 8-mrad targeted mode, producing two-dimensional rasters and three-dimensional hyperspectral image cubes of varying sizes. The overall Mini-TES envelope size is 23.5 × 16.3 × 15.5 cm, and the mass is 2.40 kg. The power consumption is 5.6 W average. The Mini-TES was developed by Arizona State University and Raytheon Santa Barbara Remote Sensing.

KENNEDY SPACE CENTER, FLA. - On Mars Exploration Rover 1 (MER-1) , air bags are installed on the lander. The airbags will inflate to cushion the landing of the spacecraft on the surface of Mars. When it stops bouncing and rolling, the airbags will deflate and retract, the petals will open to bring the lander to an upright position, and the rover will be exposed. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

NASA Image and Video Library

2003-05-10

KENNEDY SPACE CENTER, FLA. - On Mars Exploration Rover 1 (MER-1) , air bags are installed on the lander. The airbags will inflate to cushion the landing of the spacecraft on the surface of Mars. When it stops bouncing and rolling, the airbags will deflate and retract, the petals will open to bring the lander to an upright position, and the rover will be exposed. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

KENNEDY SPACE CENTER, FLA. - The Mars Exploration Rover 1 (MER-1) is seen after installation of the air bags on the outside of the lander. The airbags will inflate to cushion the landing of the spacecraft on the surface of Mars. When it stops bouncing and rolling, the airbags will deflate and retract, the petals will open to bring the lander to an upright position, and the rover will be exposed. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

NASA Image and Video Library

2003-05-10

KENNEDY SPACE CENTER, FLA. - The Mars Exploration Rover 1 (MER-1) is seen after installation of the air bags on the outside of the lander. The airbags will inflate to cushion the landing of the spacecraft on the surface of Mars. When it stops bouncing and rolling, the airbags will deflate and retract, the petals will open to bring the lander to an upright position, and the rover will be exposed. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

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 results returned in the afternoon of that Sol guiding the plans for the following Sol. Between the command sessions, the rover will autonomously execute the requested activities, including as an example traverses of tens of meters using autonomous navigation and hazard avoidance.

KENNEDY SPACE CENTER, FLA. - On Launch Pad 17-B, Cape Canaveral Air Force Station, the Mars Exploration Rover 1 (MER-B) is moved toward the opening above the Delta rocket. The rover will then be mated with the rocket for launch. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

NASA Image and Video Library

2003-06-17

KENNEDY SPACE CENTER, FLA. - On Launch Pad 17-B, Cape Canaveral Air Force Station, the Mars Exploration Rover 1 (MER-B) is moved toward the opening above the Delta rocket. The rover will then be mated with the rocket for launch. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

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.

KENNEDY SPACE CENTER, FLA. - In the foreground, three solid rocket boosters (SRBs) suspended in the launch tower flank the Delta II rocket (in the background) that will launch Mars Exploration Rover 2 (MER-2). NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch June 5 as MER-A. MER-1 (MER-B) will launch June 25.

NASA Image and Video Library

2003-05-15

KENNEDY SPACE CENTER, FLA. - In the foreground, three solid rocket boosters (SRBs) suspended in the launch tower flank the Delta II rocket (in the background) that will launch Mars Exploration Rover 2 (MER-2). NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch June 5 as MER-A. MER-1 (MER-B) will launch June 25.

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility prepare to lift and move the backshell that will cover the Mars Exploration Rover 1 (MER-1) and its lander. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

NASA Image and Video Library

2003-05-10

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility prepare to lift and move the backshell that will cover the Mars Exploration Rover 1 (MER-1) and its lander. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

KENNEDY SPACE CENTER, FLA. - Nine-year-old Sofi Collis is introduced to the media at a press conference. The Siberian-born Arizona resident wrote the winning entry in the Name the Rovers Contest sponsored by NASA and the Lego Co., a Denmark-based toymaker, with collaboration from the Planetary Society, Pasadena, Calif. The names she selected for the Mars Exploration Rovers are "Spirit" and "Opportunity." The third grader's essay was chosen from more than 10,000 American student entries. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

NASA Image and Video Library

2003-06-08

KENNEDY SPACE CENTER, FLA. - Nine-year-old Sofi Collis is introduced to the media at a press conference. The Siberian-born Arizona resident wrote the winning entry in the Name the Rovers Contest sponsored by NASA and the Lego Co., a Denmark-based toymaker, with collaboration from the Planetary Society, Pasadena, Calif. The names she selected for the Mars Exploration Rovers are "Spirit" and "Opportunity." The third grader's essay was chosen from more than 10,000 American student entries. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

KENNEDY SPACE CENTER, FLA. - Nine-year-old Sofi Collis (left) shares a light moment with NASA Administrator Sean O'Keefe at a press conference. The Siberian-born Arizona resident wrote the winning entry in the Name the Rovers Contest sponsored by NASA and the Lego Co., a Denmark-based toymaker, with collaboration from the Planetary Society, Pasadena, Calif. The names she selected for the Mars Exploration Rovers are "Spirit" and "Opportunity." The third grader's essay was chosen from more than 10,000 American student entries. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

NASA Image and Video Library

2003-06-08

KENNEDY SPACE CENTER, FLA. - Nine-year-old Sofi Collis (left) shares a light moment with NASA Administrator Sean O'Keefe at a press conference. The Siberian-born Arizona resident wrote the winning entry in the Name the Rovers Contest sponsored by NASA and the Lego Co., a Denmark-based toymaker, with collaboration from the Planetary Society, Pasadena, Calif. The names she selected for the Mars Exploration Rovers are "Spirit" and "Opportunity." The third grader's essay was chosen from more than 10,000 American student entries. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

KENNEDY SPACE CENTER, FLA. - Nine-year-old Sofi Collis (left) is introduced to the media by NASA Administrator Sean O'Keefe at a press conference. The Siberian-born Arizona resident wrote the winning entry in the Name the Rovers Contest sponsored by NASA and the Lego Co., a Denmark-based toymaker, with collaboration from the Planetary Society, Pasadena, Calif. The names she selected for the Mars Exploration Rovers are "Spirit" and "Opportunity." The third grader's essay was chosen from more than 10,000 American student entries. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

NASA Image and Video Library

2003-06-08

KENNEDY SPACE CENTER, FLA. - Nine-year-old Sofi Collis (left) is introduced to the media by NASA Administrator Sean O'Keefe at a press conference. The Siberian-born Arizona resident wrote the winning entry in the Name the Rovers Contest sponsored by NASA and the Lego Co., a Denmark-based toymaker, with collaboration from the Planetary Society, Pasadena, Calif. The names she selected for the Mars Exploration Rovers are "Spirit" and "Opportunity." The third grader's essay was chosen from more than 10,000 American student entries. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

KENNEDY SPACE CENTER, FLA. - With a glimpse of the Atlantic Ocean over the horizon, the Delta II rocket with its Mars Exploration Rover (MER-A) payload leaps off the launch pad into the blue sky to begin its journey to Mars. Liftoff occurred on time at 1:58 p.m. EDT from Launch Complex 17-A, Cape Canaveral Air Force Station. MER-A, known as "Spirit," is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for the MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25

NASA Image and Video Library

2003-06-10

KENNEDY SPACE CENTER, FLA. - With a glimpse of the Atlantic Ocean over the horizon, the Delta II rocket with its Mars Exploration Rover (MER-A) payload leaps off the launch pad into the blue sky to begin its journey to Mars. Liftoff occurred on time at 1:58 p.m. EDT from Launch Complex 17-A, Cape Canaveral Air Force Station. MER-A, known as "Spirit," is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for the MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25

KENNEDY SPACE CENTER, FLA. - With a glimpse of the Atlantic Ocean over the horizon, the Delta II rocket with its Mars Exploration Rover (MER-A) payload leaps off the launch pad into the blue sky to begin its journey to Mars. Liftoff occurred on time at 1:58 p.m. EDT from Launch Complex 17-A, Cape Canaveral Air Force Station. MER-A, known as "Spirit," is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for the MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

NASA Image and Video Library

2003-06-10

KENNEDY SPACE CENTER, FLA. - With a glimpse of the Atlantic Ocean over the horizon, the Delta II rocket with its Mars Exploration Rover (MER-A) payload leaps off the launch pad into the blue sky to begin its journey to Mars. Liftoff occurred on time at 1:58 p.m. EDT from Launch Complex 17-A, Cape Canaveral Air Force Station. MER-A, known as "Spirit," is the first of two rovers being launched to Mars. When the two rovers arrive at the red planet in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for the MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

Enhancing Lunar Exploration with a Radioisotope Powered Dual Mode Lunar Rover

NASA Astrophysics Data System (ADS)

Elliott, J. O.; Coste, K.; Schriener, T. M.

2005-12-01

The emerging plans for lunar exploration and establishment of a permanent human presence on the moon will require development of numerous infrastructure elements to facilitate their implementation. One such element, which manifestly demonstrated its worth in the Apollo missions, is the lunar roving vehicle. While the original Apollo lunar rovers were designed for single mission use, the intention of proceeding with a long-term sustained lunar exploration campaign gives new impetus to consideration of a lunar roving vehicle with extended capabilities, including the ability to support multiple sequential human missions as well as teleoperated exploration activities between human visits. This paper presents a preliminary design concept for such a vehicle, powered by radioisotope power systems which would give the rover greatly extended capabilities and the versatility to operate at any latitude over the entire lunar day/night cycle. The rover would be used for human transportation during astronaut sorties, and be reconfigured for teleoperation by earth-based controllers during the times between crewed landings. In teleoperated mode the rover could be equipped with a range of scientific instrument suites for exploration and detailed assessment of the lunar environment on a regional scale. With modular payload attachments, the rover could be modified between missions to carry out a variety of scientific and utilitarian tasks, including regolith reconfiguration in support of establishment of a permanent human base.

KSC-03PD-1586

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. The backshell is in place over the Mars Exploration Rover 1 (MER-1). The backshell is a protective cover for the rover. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

KSC-03PD-1584

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Workers in the Payload Hazardous Servicing Facility lower the backshell over the Mars Exploration Rover 1 (MER-1). The backshell is a protective cover for the rover. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

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.

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.

Opportunity Late Afternoon View of Mars

NASA Image and Video Library

2012-02-03

NASA Mars Exploration Rover Opportunity captured this low-light raw image during the late afternoon of the rover 2,847th Martian sol Jan. 27, 2012. The rover is positioned for the Mars winter at Greeley Haven.

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.

KENNEDY SPACE CENTER, FLA. - The overhead crane settles the Mars Exploration Rover 2 (MER-2) entry vehicle onto a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - The overhead crane settles the Mars Exploration Rover 2 (MER-2) entry vehicle onto a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

WATER ON MARS: EVIDENCE FROM MER MISSION RESULTS

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.

2006-01-01

The Mars Exploration Rover (MER) mission landed two rovers on Mars, equipped with a highly-capable suite of science instruments. The Spirit rover landed on the inside Gusev Crater on January 5, 2004, and the Opportunity rover three weeks later on Meridiani Planum. This paper summarizes some of the findings from the MER rovers related to the NASA science strategy of investigating past and present water on Mars.

Autonomous control of roving vehicles for unmanned exploration of the planets

NASA Technical Reports Server (NTRS)

Yerazunis, S. W.

1978-01-01

The guidance of an autonomous rover for unmanned planetary exploration using a short range (0.5 - 3.0 meter) hazard detection system was studied. Experimental data derived from a one laser/one detector system were used in the development of improved algorithms for the guidance of the rover. The new algorithms which account for the dynamic characteristics of the Rensselaer rover can be applied to other rover concepts provided that the rover dynamic parameters are modified appropriately. The new algorithms will also be applicable to the advanced scanning system. The design of an elevation scanning laser/multisensor hazard detection system was completed. All mechanical and electronic hardware components with the exception of the sensor optics and electronic components were constructed and tested.

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.

Heading South on 'Erebus Highway'

NASA Technical Reports Server (NTRS)

2005-01-01

NASA's Mars Exploration Rover Opportunity is currently traveling southward over a pavement of outcrop dubbed the 'Erebus Highway.' 'Erebus Crater,' the rover's next target, lies less than 100 meters (328 feet) south of its current position. This view is a mosaic produced from from frames taken by the rover's navigation camera during Opportunity's 582nd martian day, or sol (Sept. 13, 2005). It shows fractured blocks of ancient sedimentary rock separated by recent sand dunes. Mars Exploration Rover team scientists are investigating both the composition of the rocks and the processes by which the distinctive fracture pattern arose.

Inside Victoria Crater for Extended Exploration

NASA Technical Reports Server (NTRS)

2007-01-01

After a finishing an in-and-out maneuver to check wheel slippage near the rim of Victoria Crater, NASA's Mars Exploration Rover Opportunity re-entered the crater during the rover's 1,293rd Martian day, or sol, (Sept. 13, 2007) to begin a weeks-long exploration of the inner slope.

Opportunity's front hazard-identification camera recorded this wide-angle view looking down into and across the crater at the end of the day's drive. The rover's position was about six meters (20 feet) inside the rim, in the 'Duck Bay' alcove of the crater.

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.

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.

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.

ARC-2008-ACD08-0216-006

NASA Image and Video Library

2008-09-23

Tech Talk on Extreme Rovers: Unveiling the latest findings of Robotic Exploration of Extreme Environments shown in the Immersve Theater NASA Ames Exploration Center Bldg 943A KbalidAl-Ali CMU - West gives presentation on 'Practical Rover Technology'

ARC-2008-ACD08-0216-008

NASA Image and Video Library

2008-09-23

Tech Talk on Extreme Rovers: Unveiling the latest findings of Robotic Exploration of Extreme Environments shown in the Immersve Theater NASA Ames Exploration Center Bldg 943A KbalidAl-Ali CMU - West gives presentation on 'Practical Rover Technology'

ARC-2008-ACD08-0216-007

NASA Image and Video Library

2008-09-23

Tech Talk on Extreme Rovers: Unveiling the latest findings of Robotic Exploration of Extreme Environments shown in the Immersve Theater NASA Ames Exploration Center Bldg 943A KbalidAl-Ali CMU - West gives presentation on 'Practical Rover Technology'

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

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.

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, the cylindrical payload canister is lowered around Mars Exploration Rover 1 (MER-B). Once secure inside the canister, the rover will be transported to Launch Complex 17-B, Cape Canaveral Air Force Station, for mating with the Delta rocket. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch from Pad 17-B June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

NASA Image and Video Library

2003-06-13

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, the cylindrical payload canister is lowered around Mars Exploration Rover 1 (MER-B). Once secure inside the canister, the rover will be transported to Launch Complex 17-B, Cape Canaveral Air Force Station, for mating with the Delta rocket. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch from Pad 17-B June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

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.

'X' Marks the Spot

NASA Technical Reports Server (NTRS)

2004-01-01

This map of the Mars Exploration Rover Opportunity's new neighborhood at Meridiani Planum, Mars, shows the surface features used to locate the rover. By imaging these 'bumps' on the horizon from the perspective of the rover, mission members were able to pin down the rover's precise location. The image consists of data from the Mars Global Surveyor orbiter, the Mars Odyssey orbiter and the descent image motion estimation system located on the bottom of the rover.

KENNEDY SPACE CENTER, FLA. - Workers watch as an overhead crane begins to lift the backshell with the Mars Exploration Rover 1 (MER-1) inside. The backshell will be moved and attached to the lower heat shield. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

NASA Image and Video Library

2003-05-15

KENNEDY SPACE CENTER, FLA. - Workers watch as an overhead crane begins to lift the backshell with the Mars Exploration Rover 1 (MER-1) inside. The backshell will be moved and attached to the lower heat shield. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

KENNEDY SPACE CENTER, FLA. - A closeup of the cruise stage to be mated to the Mars Exploration Rover 2 (MER-2) entry vehicle. The cruise stage includes fuel tanks, thruster clusters and avionics for steering and propulsion. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-2 is scheduled to launch June 5 as MER-A aboard a Delta rocket from Cape Canaveral Air Force Station.

NASA Image and Video Library

2003-05-06

KENNEDY SPACE CENTER, FLA. - A closeup of the cruise stage to be mated to the Mars Exploration Rover 2 (MER-2) entry vehicle. The cruise stage includes fuel tanks, thruster clusters and avionics for steering and propulsion. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-2 is scheduled to launch June 5 as MER-A aboard a Delta rocket from Cape Canaveral Air Force Station.

KENNEDY SPACE CENTER, FLA. - A solid rocket booster arrives at Launch Complex 17-A, Cape Canaveral Air Force Station. It is one of nine that will be mated to the Delta rocket to launch Mars Exploration Rover 2. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch June 5 as MER-A. MER-1 (MER-B) will launch June 25.

NASA Image and Video Library

2003-05-14

KENNEDY SPACE CENTER, FLA. - A solid rocket booster arrives at Launch Complex 17-A, Cape Canaveral Air Force Station. It is one of nine that will be mated to the Delta rocket to launch Mars Exploration Rover 2. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch June 5 as MER-A. MER-1 (MER-B) will launch June 25.

KENNEDY SPACE CENTER, FLA. - Workers walk with the suspended backshell/ Mars Exploration Rover 1 (MER-1) as it travels across the floor of the Payload Hazardous Servicing Facility. The backshell will be attached to the lower heat shield. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

NASA Image and Video Library

2003-05-15

KENNEDY SPACE CENTER, FLA. - Workers walk with the suspended backshell/ Mars Exploration Rover 1 (MER-1) as it travels across the floor of the Payload Hazardous Servicing Facility. The backshell will be attached to the lower heat shield. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

VNIR Multispectral Observations of Rocks at Spirit of St. Louis Crater and Marathon Valley on Th Rim of Endeavour Crater Made by the Opportunity Rover Pancam

NASA Technical Reports Server (NTRS)

Farrand, W. H.; Johnson, J. R.; Bell, J. F., III; Mittlefehldt, D.W.

2016-01-01

The Mars Exploration Rover Opportunity has been exploring the western rim of the 22 km diameter Endeavour crater since August, 2011. Recently, Opportunity has reached a break in the Endeavour rim that the rover team has named Mara-thon Valley. This is the site where orbital observations from the MRO CRISM imaging spectrometer indicated the presence of iron smectites. On the outer western portion of Marathon Valley, Opportunity explored the crater-form feature dubbed Spirit of St. Louis (SoSL) crater. This presentation describes the 430 to 1009 nm (VNIR) reflectance, measured by the rover's Pancam, of rock units present both at Spirit of St. Louis and within Marathon Valley.

Microbiological cleanliness of the Mars Exploration Rover spacecraft

NASA Technical Reports Server (NTRS)

Newlin, L.; Barengoltz, J.; Chung, S.; Kirschner, L.; Koukol, R.; Morales, F.

2002-01-01

Planetary protection for Mars missions is described, and the approach being taken by the Mars Exploration Rover Project is discussed. Specific topics include alcohol wiping, dry heat microbial reduction, microbiological assays, and the Kennedy Space center's PHSF clean room.

The Mars Exploration Rover Project : 2005 surface operations results

NASA Technical Reports Server (NTRS)

Erickson, James K.; Callas, John L.; Haldemann, Albert F. C.

2005-01-01

The intent of this paper is to provide the aerospace community a status report of the progress of the Mars Rovers exploration of the Martian surface, picking up after the landings and continuing through fiscal year 2005.

First Image from a Mars Rover Choosing a Target

NASA Image and Video Library

2010-03-23

This true-color image is the result of the first observation of a target selected autonomously by NASA Mars Exploration Rover Opportunity using newly developed and uploaded software named Autonomous Exploration for Gathering Increased Science, or AEGIS.

Rocky 7 prototype Mars rover field geology experiments 1. Lavic Lake and sunshine volcanic field, California

USGS Publications Warehouse

Arvidson, R. E.; Acton, C.; Blaney, D.; Bowman, J.; Kim, S.; Klingelhofer, G.; Marshall, J.; Niebur, C.; Plescia, J.; Saunders, R.S.; Ulmer, C.T.

1998-01-01

Experiments with the Rocky 7 rover were performed in the Mojave Desert to better understand how to conduct rover-based, long-distance (kilometers) geological traverses on Mars. The rover was equipped with stereo imaging systems for remote sensing science and hazard avoidance and 57Fe Mo??ssbauer and nuclear magnetic resonance spectrometers for in situ determination of mineralogy of unprepared rock and soil surfaces. Laboratory data were also obtained using the spectrometers and an X ray diffraction (XRD)/XRF instrument for unprepared samples collected from the rover sites. Simulated orbital and descent image data assembled for the test sites were found to be critical for assessing the geologic setting, formulating hypotheses to be tested with rover observations, planning traverses, locating the rover, and providing a regional context for interpretation of rover-based observations. Analyses of remote sensing and in situ observations acquired by the rover confirmed inferences made from orbital and simulated descent images that the Sunshine Volcanic Field is composed of basalt flows. Rover data confirmed the idea that Lavic Lake is a recharge playa and that an alluvial fan composed of sediments with felsic compositions has prograded onto the playa. Rover-based discoveries include the inference that the basalt flows are mantled with aeolian sediment and covered with a dense pavement of varnished basalt cobbles. Results demonstrate that the combination of rover remote sensing and in situ analytical observations will significantly increase our understanding of Mars and provide key connecting links between orbital and descent data and analyses of returned samples. Copyright 1998 by the American Geophysical Union.

Round-Horizon Version of Curiosity Low-Angle Selfie at Buckskin

NASA Image and Video Library

2015-08-19

This version of a self-portrait of NASA's Curiosity Mars rover at a drilling site called "Buckskin" on lower Mount Sharp is presented as a stereographic projection, which shows the horizon as a circle. It is a mosaic assembled from the same set of 92 component raw images used for the flatter-horizon version at PIA19807. The component images were 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. Curiosity drilled the hole at Buckskin during Sol 1060 (July 30, 2015). Two patches of pale, powdered rock material pulled from inside Buckskin are visible in this scene, in front of the rover. The patch closer to the rover is where the sample-handling mechanism on Curiosity's robotic arm dumped collected material that did not pass through a sieve in the mechanism. Sieved sample material was delivered to laboratory instruments inside the rover. The patch farther in front of the rover, roughly triangular in shape, shows where fresh tailings spread downhill from the drilling process. The drilled hole, 0.63 inch (1.6 centimeters) in diameter, is at the upper point of the tailings. The rover is facing northeast, looking out over the plains from the crest of a 20-foot (6-meter) hill that it climbed to reach the "Marias Pass" area. The upper levels of Mount Sharp are visible behind the rover, while Gale Crater's northern rim dominates most of the rest of the horizon.the horizon on the left and right of the mosaic. 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. The assembled mosaic does not include the rover's arm beyond a portion of the upper arm held nearly vertical from the shoulder joint. Shadows from the rest of the arm and the turret of tools at the end of the arm are visible on the ground. 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. 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 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/PIA19806

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.

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.

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 imagery and stored in the rover memory prior the mission launch. A proof of concept is evaluated using a PANGU simulated boulder field.

Mars Mission Surface Operation Simulation Testing of Lithium-Ion Batteries

NASA Technical Reports Server (NTRS)

Smart, M. C.; Bugga, R.; Whitcanack, L. D.; Chin, K. B.; Davies, E. D.; Surampudi, S.

2003-01-01

The objectives of this program are to 1) Assess viability of using lithium-ion technology for future NASA applications, with emphasis upon Mars landers and rovers which will operate on the planetary surface; 2) Support the JPL 2003 Mars Exploration Rover program to assist in the delivery and testing of a 8 AHr Lithium-Ion battery (Lithion/Yardney) which will power the rover; 3) Demonstrate applicability of using lithium-ion technologyfor future Mars applications: Mars 09 Science Laboratory (Smart Lander) and Future Mars Surface Operations (General). Mission simulation testing was carried out for cells and batteries on the Mars Surveyor 2001 Lander and the 2003 Mars Exploration Rover.

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.

Opportunity View on Sols 1803 and 1804 Stereo

NASA Image and Video Library

2009-03-03

NASA Mars Exploration Rover Opportunity combined images into this full-circle view of the rover surroundings. Tracks from the rover drive recede northward across dark-toned sand ripples in the Meridiani Planum region of Mars. You need 3D glasses.

Opportunity View After Drive on Sol 1806 Stereo

NASA Image and Video Library

2009-03-03

NASA Mars Exploration Rover Opportunity combined images into this full-circle view of the rover surroundings. Tracks from the rover drive recede northward across dark-toned sand ripples in the Meridiani Planum region of Mars. You need 3D glasses.

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.

Current Status and Readiness on In-Situ Exploration of Asteroid Surface by MINERVA Rover in Hayabusa Mission

NASA Astrophysics Data System (ADS)

Yoshimitsu, T.; Sasaki, S.; Yanagisawa, M.

2005-03-01

This paper describes the current status of the MINERVA rover boarded on the Japanese asteroid explorer Hayabusa. Also the plan and the strategy to acquire surface images of the asteroid are presented.

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.

KENNEDY SPACE CENTER, FLA. - An overhead crane lifts the Mars Exploration Rover 2 (MER-2) entry vehicle from its stand to move it to a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - An overhead crane lifts the Mars Exploration Rover 2 (MER-2) entry vehicle from its stand to move it to a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - With help from workers, the overhead crane lowers the Mars Exploration Rover 2 (MER-2) entry vehicle onto a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - With help from workers, the overhead crane lowers the Mars Exploration Rover 2 (MER-2) entry vehicle onto a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - An overhead crane moves the Mars Exploration Rover 2 (MER-2) entry vehicle across the Payload Hazardous Servicing Facility toward a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - An overhead crane moves the Mars Exploration Rover 2 (MER-2) entry vehicle across the Payload Hazardous Servicing Facility toward a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility help guide the Mars Exploration Rover 2 (MER-2) entry vehicle toward a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility help guide the Mars Exploration Rover 2 (MER-2) entry vehicle toward a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - An overhead crane is in place to lift the Mars Exploration Rover 2 (MER-2) entry vehicle to move it to a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - An overhead crane is in place to lift the Mars Exploration Rover 2 (MER-2) entry vehicle to move it to a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

Mars Exploration Rover Operations with the Science Activity Planner

NASA Technical Reports Server (NTRS)

Jeffrey S. Norris; Powell, Mark W.; Vona, Marsette A.; Backes, Paul G.; Wick, Justin V.

2005-01-01

The Science Activity Planner (SAP) is the primary science operations tool for the Mars Exploration Rover mission and NASA's Software of the Year for 2004. SAP utilizes a variety of visualization and planning capabilities to enable the mission operations team to direct the activities of the Spirit and Opportunity rovers. This paper outlines some of the challenging requirements that drove the design of SAP and discusses lessons learned from the development and use of SAP in mission operations.

KSC-03pd0916

NASA Image and Video Library

2003-03-29

KENNEDY SPACE CENTER, FLA. - A worker makes the final launch preparations on the rover equipment deck (RED) for the Mars Exploration Rover 2 (MER-2). Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. 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 first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0785

NASA Image and Video Library

2003-03-21

KENNEDY SPACE CENTER, Fla. - Workers in the Payload Hazardous Servicing Facility check different parts of the Mars Exploration Rover-2 (MER-2) after testing the rover's mobility and maneuverability. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

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.

Bird's-Eye View of Opportunity at 'Erebus' (Vertical)

NASA Technical Reports Server (NTRS)

2006-01-01

This view combines frames taken by the panoramic camera on NASA's Mars Exploration Rover Opportunity on the rover's 652nd through 663rd Martian days, or sols (Nov. 23 to Dec. 5, 2005), at the edge of 'Erebus Crater.' The mosaic is presented as a vertical projection. This type of projection provides a true-to-scale overhead view of the rover deck and nearby surrounding terrain. The view here shows outcrop rocks, sand dunes, and other features out to a distance of about 25 meters (82 feet) from the rover. Opportunity examined targets on the outcrop called 'Rimrock' in front of the rover, testing the mobility and operation of Opportunity's robotic arm. The view shows examples of the dunes and ripples that Opportunity has been crossing as the rover drives on the Meridiani plains.

This view is a false-color composite of images taken through the camera's 750-nanometer, 530-nanometer and 430-nanometer filters. This kind of false-color scheme emphasizes differences in composition among the different kinds of materials that the rover is exploring.

A Rover Mobility Platform with Autonomous Capability to Enable Mars Sample Return

NASA Astrophysics Data System (ADS)

Fulford, P.; Langley, C.; Shaw, A.

2018-04-01

The next step in understanding Mars is sample return. In Fall 2016, the CSA conducted an analogue deployment using the Mars Exploration Science Rover. An objective was to demonstrate the maturity of the rover's guidance, navigation, and control.

Spatial Coverage Planning for Exploration Robots

NASA Technical Reports Server (NTRS)

Gaines, Daniel; Estlin, Tara; Chouinard, Caroline

2007-01-01

A report discusses an algorithm for an onboard planning and execution technology to support the exploration and characterization of geological features by autonomous rovers. A rover that is capable of deciding which observations are more important relieves the engineering team from much of the burden of attempting to make accurate predictions of what the available rover resources will be in the future. Instead, the science and engineering teams can uplink a set of observation requests that may potentially oversubscribe resources and let the rover use observation priorities and its current assessment of available resources to make decisions about which observations to perform and when to perform them. The algorithm gives the rover the ability to model spatial coverage quality based on data from different scientific instruments, to assess the impact of terrain on coverage quality, to incorporate user-defined priorities among subregions of the terrain to be covered, and to update coverage quality rankings of observations when terrain knowledge changes. When the rover is exploring large geographical features such as craters, channels, or boundaries between two different regions, an important factor in assessing the quality of a mission plan is how the set of chosen observations spatially cover the area of interest. The algorithm allows the rover to evaluate which observation to perform and to what extent the candidate observation will increase the spatial coverage of the plan.

KSC-03PD-1606

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. In the Payload Hazardous Servicing Facility, workers lower the backshell with the Mars Exploration Rover 1 (MER-1) onto the heat shield. The two components form the aeroshell that will protect the rover on its journey to Mars. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

KSC-03PD-1607

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. In the Payload Hazardous Servicing Facility, workers lower the backshell with the Mars Exploration Rover 1 (MER-1) onto the heat shield. The two components form the aeroshell that will protect the rover on its journey to Mars. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

Spirit's Course

NASA Technical Reports Server (NTRS)

2004-01-01

[figure removed for brevity, see original site] [figure removed for brevity, see original site] Figure 1Figure 2

This digital elevation map shows the topography of the 'Columbia Hills,' just in front of the Mars Exploration Rover Spirit's current position. Rover planners have plotted the safest route for Spirit to climb to the front hill, called 'West Spur.' The black line in the middle of the image represents the rover's traverse path, which starts at 'Hank's Hollow' and ends at the top of 'West Spur.' Scientists are sending Spirit up the hill to investigate the interesting rock outcrops visible in images taken by the rover. Data from the Mars Orbital Camera on the orbiting Mars Global Surveyor were used to create this 3-D map.

In figure 1, the digital map shows the slopes of the 'Columbia Hills,' just in front of the Mars Exploration Rover Spirit's current position. Colors indicate the slopes of the hills, with red areas being the gentlest and blue the steepest. Rover planners have plotted the safest route for Spirit to climb the front hill, called 'West Spur.' The path is indicated here with a curved black line. Stereo images from the Mars Orbital Camera on the orbiting Mars Global Surveyor were used to create this 3-D map.

In figure 2, the map shows the north-facing slopes of the 'Columbia Hills,' just in front of the Mars Exploration Rover Spirit's current position. Bright areas indicate surfaces sloping more toward the north than dark areas. To reach the rock outcrop at the top of the hill, engineers will aim to drive the rover around the dark areas, which would yield less solar power. The curved black line in the middle represents the rover's planned traverse path.

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 rover failures and changing environments. In experimental simulations we show that our method scales well with large numbers of rovers in addition to being robust against noisy sensor inputs and noisy servo control. The results show that our method is able to scale to large numbers of rovers and achieves up to 400% performance improvement over standard machine learning methods.

KSC-2012-3265

NASA Image and Video Library

2012-05-10

CAPE CANAVERAL, Fla. – Engineers complete the assembly of the prototype lander for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project in a test facility behind the Operations and Checkout Building at NASA’s Kennedy Space Center in Florida. RESOLVE consists of a rover and drill provided by the Canadian Space Agency to support a NASA payload that is designed to prospect for water, ice and other lunar resources. RESOLVE also will demonstrate how future explorers can take advantage of resources at potential landing sites by manufacturing oxygen from soil. NASA will be conducting field tests in July outside of Hilo, Hawaii, with equipment and concept vehicles that demonstrate how explorers might prospect for resources and make their own oxygen for survival while on other planetary bodies. For more information, visit http://www.nasa.gov/exploration/analogs/index.html. Photo credit: NASA/Ben Smegelsky

KSC-2012-3264

NASA Image and Video Library

2012-05-10

CAPE CANAVERAL, Fla. – NASA systems engineer Jim Smith assembles the prototype lander for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project in a test facility behind the Operations and Checkout Building at NASA’s Kennedy Space Center in Florida. RESOLVE consists of a rover and drill provided by the Canadian Space Agency to support a NASA payload that is designed to prospect for water, ice and other lunar resources. RESOLVE also will demonstrate how future explorers can take advantage of resources at potential landing sites by manufacturing oxygen from soil. NASA will be conducting field tests in July outside of Hilo, Hawaii, with equipment and concept vehicles that demonstrate how explorers might prospect for resources and make their own oxygen for survival while on other planetary bodies. For more information, visit http://www.nasa.gov/exploration/analogs/index.html. Photo credit: NASA/Ben Smegelsky

KSC-2012-3266

NASA Image and Video Library

2012-05-10

CAPE CANAVERAL, Fla. – The prototype lander for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project is assembled and ready for testing in a facility behind the Operations and Checkout Building at NASA’s Kennedy Space Center in Florida. RESOLVE consists of a rover and drill provided by the Canadian Space Agency to support a NASA payload that is designed to prospect for water, ice and other lunar resources. RESOLVE also will demonstrate how future explorers can take advantage of resources at potential landing sites by manufacturing oxygen from soil. NASA will be conducting field tests in July outside of Hilo, Hawaii, with equipment and concept vehicles that demonstrate how explorers might prospect for resources and make their own oxygen for survival while on other planetary bodies. For more information, visit http://www.nasa.gov/exploration/analogs/index.html. Photo credit: NASA/Ben Smegelsky

KSC-2012-3267

NASA Image and Video Library

2012-05-10

CAPE CANAVERAL, Fla. – Assembly of the prototype lander for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project is complete in a test facility behind the Operations and Checkout Building at NASA’s Kennedy Space Center in Florida. RESOLVE consists of a rover and drill provided by the Canadian Space Agency to support a NASA payload that is designed to prospect for water, ice and other lunar resources. RESOLVE also will demonstrate how future explorers can take advantage of resources at potential landing sites by manufacturing oxygen from soil. NASA will be conducting field tests in July outside of Hilo, Hawaii, with equipment and concept vehicles that demonstrate how explorers might prospect for resources and make their own oxygen for survival while on other planetary bodies. For more information, visit http://www.nasa.gov/exploration/analogs/index.html. Photo credit: NASA/Ben Smegelsky

KENNEDY SPACE CENTER, FLA. - At right is the Delta II rocket on Launch Complex 17-A, Cape Canaveral Air Force Station, that will launch Mars Exploration Rover 2 (MER-2) on June 5. In the center are three more solid rocket boosters that will be added to the Delta, which will carry nine in all. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch as MER-A. MER-1 (MER-B) will launch June 25.

NASA Image and Video Library

2003-05-15

KENNEDY SPACE CENTER, FLA. - At right is the Delta II rocket on Launch Complex 17-A, Cape Canaveral Air Force Station, that will launch Mars Exploration Rover 2 (MER-2) on June 5. In the center are three more solid rocket boosters that will be added to the Delta, which will carry nine in all. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch as MER-A. MER-1 (MER-B) will launch June 25.

KENNEDY SPACE CENTER, FLA. - The Delta II rocket on Launch Complex 17-A, Cape Canaveral Air Force Station, is having solid rocket boosters (SRBs) installed that will help launch Mars Exploration Rover 2 (MER-2) on June 5. In the center are three more solid rocket boosters that will be added to the Delta, which will carry nine in all. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch as MER-A. MER-1 (MER-B) will launch June 25.

NASA Image and Video Library

2003-05-15

KENNEDY SPACE CENTER, FLA. - The Delta II rocket on Launch Complex 17-A, Cape Canaveral Air Force Station, is having solid rocket boosters (SRBs) installed that will help launch Mars Exploration Rover 2 (MER-2) on June 5. In the center are three more solid rocket boosters that will be added to the Delta, which will carry nine in all. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch as MER-A. MER-1 (MER-B) will launch June 25.

KENNEDY SPACE CENTER, FLA. - A third solid rocket booster (SRB) is lifted up the launch tower on Launch Complex 17-A, Cape Canaveral Air Force Station. They are three of nine SRBs that will be mated to the Delta rocket to launch Mars Exploration Rover 2. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch June 5 as MER-A. MER-1 (MER-B) will launch June 25.

NASA Image and Video Library

2003-05-14

KENNEDY SPACE CENTER, FLA. - A third solid rocket booster (SRB) is lifted up the launch tower on Launch Complex 17-A, Cape Canaveral Air Force Station. They are three of nine SRBs that will be mated to the Delta rocket to launch Mars Exploration Rover 2. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch June 5 as MER-A. MER-1 (MER-B) will launch June 25.

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, workers complete raising a solid rocket booster to a vertical position. It will be lifted up the launch tower and mated to the Delta rocket to launch Mars Exploration Rover 2. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch June 5 as MER-A. MER-1 (MER-B) will launch June 25.

NASA Image and Video Library

2003-05-14

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, workers complete raising a solid rocket booster to a vertical position. It will be lifted up the launch tower and mated to the Delta rocket to launch Mars Exploration Rover 2. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch June 5 as MER-A. MER-1 (MER-B) will launch June 25.

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, a solid rocket booster is raised off the transporter. When vertical, it will be lifted up the launch tower and mated to the Delta rocket (in the background) to launch Mars Exploration Rover 2. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch June 5 as MER-A. MER-1 (MER-B) will launch June 25.

NASA Image and Video Library

2003-05-14

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, a solid rocket booster is raised off the transporter. When vertical, it will be lifted up the launch tower and mated to the Delta rocket (in the background) to launch Mars Exploration Rover 2. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch June 5 as MER-A. MER-1 (MER-B) will launch June 25.

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, a solid rocket booster is moved into position to raise to vertical and lift up the launch tower. It is one of nine that will be mated to the Delta rocket to launch Mars Exploration Rover 2. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch June 5 as MER-A. MER-1 (MER-B) will launch June 25.

NASA Image and Video Library

2003-05-14

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, a solid rocket booster is moved into position to raise to vertical and lift up the launch tower. It is one of nine that will be mated to the Delta rocket to launch Mars Exploration Rover 2. NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch June 5 as MER-A. MER-1 (MER-B) will launch June 25.

KENNEDY SPACE CENTER, FLA. - Workers on the launch tower of Complex 17-A, Cape Canaveral Air Force Station, stand by while a solid rocket booster (SRB) is lifted to vertical. It is one of nine that will help launch Mars Exploration Rover 2 (MER-2). NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch June 5 as MER-A. MER-1 (MER-B) will launch June 25.

NASA Image and Video Library

2003-05-15

KENNEDY SPACE CENTER, FLA. - Workers on the launch tower of Complex 17-A, Cape Canaveral Air Force Station, stand by while a solid rocket booster (SRB) is lifted to vertical. It is one of nine that will help launch Mars Exploration Rover 2 (MER-2). NASA’s twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can’t yet go. MER-2 is scheduled to launch June 5 as MER-A. MER-1 (MER-B) will launch June 25.

KSC-03pd0752

NASA Image and Video Library

2003-03-17

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers align the Rover Equipment Deck (RED) on one of the Mars Exploration Rovers (MER) with the Warm Electronics Box (WEB). Processing of the rovers, plus cruise stage, lander and heat shield elements, is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

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.

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.

Contextualising and Analysing Planetary Rover Image Products through the Web-Based PRoGIS

NASA Astrophysics Data System (ADS)

Morley, Jeremy; Sprinks, James; Muller, Jan-Peter; Tao, Yu; Paar, Gerhard; Huber, Ben; Bauer, Arnold; Willner, Konrad; Traxler, Christoph; Garov, Andrey; Karachevtseva, Irina

2014-05-01

The international planetary science community has launched, landed and operated dozens of human and robotic missions to the planets and the Moon. They have collected various surface imagery that has only been partially utilized for further scientific purposes. The FP7 project PRoViDE (Planetary Robotics Vision Data Exploitation) is assembling a major portion of the imaging data gathered so far from planetary surface missions into a unique database, bringing them into a spatial context and providing access to a complete set of 3D vision products. Processing is complemented by a multi-resolution visualization engine that combines various levels of detail for a seamless and immersive real-time access to dynamically rendered 3D scenes. PRoViDE aims to (1) complete relevant 3D vision processing of planetary surface missions, such as Surveyor, Viking, Pathfinder, MER, MSL, Phoenix, Huygens, and Lunar ground-level imagery from Apollo, Russian Lunokhod and selected Luna missions, (2) provide highest resolution & accuracy remote sensing (orbital) vision data processing results for these sites to embed the robotic imagery and its products into spatial planetary context, (3) collect 3D Vision processing and remote sensing products within a single coherent spatial data base, (4) realise seamless fusion between orbital and ground vision data, (5) demonstrate the potential of planetary surface vision data by maximising image quality visualisation in 3D publishing platform, (6) collect and formulate use cases for novel scientific application scenarios exploiting the newly introduced spatial relationships and presentation, (7) demonstrate the concepts for MSL, (9) realize on-line dissemination of key data & its presentation by a web-based GIS and rendering tool named PRoGIS (Planetary Robotics GIS). PRoGIS is designed to give access to rover image archives in geographical context, using projected image view cones, obtained from existing meta-data and updated according to processing results, as a means to interact with and explore the archive. However PRoGIS is more than a source data explorer. It is linked to the PRoVIP (Planetary Robotics Vision Image Processing) system which includes photogrammetric processing tools to extract terrain models, compose panoramas, and explore and exploit multi-view stereo (where features on the surface have been imaged from different rover stops). We have started with the Opportunity MER rover as our test mission but the system is being designed to be multi-mission, taking advantage in particular of UCL MSSL's PDS mirror, and we intend to at least deal with both MER rovers and MSL. For the period of ProViDE until end of 2015 the further intent is to handle lunar and other Martian rover & descent camera data. The presentation discusses the challenges of integrating rover and orbital derived data into a single geographical framework, especially reconstructing view cones; our human-computer interaction intentions in creating an interface to the rover data that is accessible to planetary scientists; how we handle multi-mission data in the database; and a demonstration of the resulting system & its processing capabilities. 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.

Curiosity's Mars Hand Lens Imager (MAHLI) Investigation

USGS Publications Warehouse

Edgett, Kenneth S.; Yingst, R. Aileen; Ravine, Michael A.; Caplinger, Michael A.; Maki, Justin N.; Ghaemi, F. Tony; Schaffner, Jacob A.; Bell, James F.; Edwards, Laurence J.; Herkenhoff, Kenneth E.; Heydari, Ezat; Kah, Linda C.; Lemmon, Mark T.; Minitti, Michelle E.; Olson, Timothy S.; Parker, Timothy J.; Rowland, Scott K.; Schieber, Juergen; Sullivan, Robert J.; Sumner, Dawn Y.; Thomas, Peter C.; Jensen, Elsa H.; Simmonds, John J.; Sengstacken, Aaron J.; Wilson, Reg G.; Goetz, Walter

2012-01-01

The Mars Science Laboratory (MSL) Mars Hand Lens Imager (MAHLI) investigation will use a 2-megapixel color camera with a focusable macro lens aboard the rover, Curiosity, to investigate the stratigraphy and grain-scale texture, structure, mineralogy, and morphology of geologic materials in northwestern Gale crater. Of particular interest is the stratigraphic record of a ?5 km thick layered rock sequence exposed on the slopes of Aeolis Mons (also known as Mount Sharp). The instrument consists of three parts, a camera head mounted on the turret at the end of a robotic arm, an electronics and data storage assembly located inside the rover body, and a calibration target mounted on the robotic arm shoulder azimuth actuator housing. MAHLI can acquire in-focus images at working distances from ?2.1 cm to infinity. At the minimum working distance, image pixel scale is ?14 μm per pixel and very coarse silt grains can be resolved. At the working distance of the Mars Exploration Rover Microscopic Imager cameras aboard Spirit and Opportunity, MAHLI?s resolution is comparable at ?30 μm per pixel. Onboard capabilities include autofocus, auto-exposure, sub-framing, video imaging, Bayer pattern color interpolation, lossy and lossless compression, focus merging of up to 8 focus stack images, white light and longwave ultraviolet (365 nm) illumination of nearby subjects, and 8 gigabytes of non-volatile memory data storage.

Evolving directions in NASA's planetary rover requirements and technology

NASA Astrophysics Data System (ADS)

Weisbin, C. R.; Montemerlo, Mel; Whittaker, W.

1993-10-01

This paper reviews the evolution of NASA's planning for planetary rovers (i.e. robotic vehicles which may be deployed on planetary bodies for exploration, science analysis, and construction) and some of the technology that has been developed to achieve the desired capabilities. The program is comprised of a variety of vehicle sizes and types in order to accommodate a range of potential user needs. This includes vehicles whose weight spans a few kilograms to several thousand kilograms; whose locomotion is implemented using wheels, tracks, and legs; and whose payloads vary from microinstruments to large scale assemblies for construction. We first describe robotic vehicles, and their associated control systems, developed by NASA in the late 1980's as part of a proposed Mars Rover Sample Return (MRSR) mission. Suggested goals at that time for such an MRSR mission included navigating for one to two years across hundreds of kilometers of Martian surface; traversing a diversity of rugged, unknown terrain; collecting and analyzing a variety of samples; and bringing back selected samples to the lander for return to Earth. Subsequently, we present the current plans (considerably more modest) which have evolved both from technological 'lessons learned' in the previous period, and modified aspirations of NASA missions. This paper describes some of the demonstrated capabilities of the developed machines and the technologies which made these capabilities possible.

Evolving directions in NASA's planetary rover requirements and technology

NASA Technical Reports Server (NTRS)

Weisbin, C. R.; Montemerlo, Mel; Whittaker, W.

1993-01-01

This paper reviews the evolution of NASA's planning for planetary rovers (i.e. robotic vehicles which may be deployed on planetary bodies for exploration, science analysis, and construction) and some of the technology that has been developed to achieve the desired capabilities. The program is comprised of a variety of vehicle sizes and types in order to accommodate a range of potential user needs. This includes vehicles whose weight spans a few kilograms to several thousand kilograms; whose locomotion is implemented using wheels, tracks, and legs; and whose payloads vary from microinstruments to large scale assemblies for construction. We first describe robotic vehicles, and their associated control systems, developed by NASA in the late 1980's as part of a proposed Mars Rover Sample Return (MRSR) mission. Suggested goals at that time for such an MRSR mission included navigating for one to two years across hundreds of kilometers of Martian surface; traversing a diversity of rugged, unknown terrain; collecting and analyzing a variety of samples; and bringing back selected samples to the lander for return to Earth. Subsequently, we present the current plans (considerably more modest) which have evolved both from technological 'lessons learned' in the previous period, and modified aspirations of NASA missions. This paper describes some of the demonstrated capabilities of the developed machines and the technologies which made these capabilities possible.

Microscope on Mars

NASA Technical Reports Server (NTRS)

2004-01-01

This image taken at Meridiani Planum, Mars by the panoramic camera on the Mars Exploration Rover Opportunity shows the rover's microscopic imager (circular device in center), located on its instrument deployment device, or 'arm.' The image was acquired on the ninth martian day or sol of the rover's mission.

Approaching Endeavour Crater, Sol 2,680

NASA Image and Video Library

2011-10-10

This image from the navigation camera on NASA Mars Exploration Rover Opportunity shows the view ahead on the day before the rover reached the rim of Endeavour crater. It was taken during the 2,680th Martian day, or sol, of the rover work on Mars.

High Martian Viewpoint for 11-Year-Old Rover False-Color Landscape

NASA Image and Video Library

2015-01-22

NASA Mars Exploration Rover Opportunity obtained this view from the top of the Cape Tribulation segment of the rim of Endeavour Crater. The rover reached this point three weeks before the 11th anniversary of its January 2004 landing on Mars.

Lunar environment and design of China's first moon rover Yutu

NASA Astrophysics Data System (ADS)

Jianhui, Wu

China launched the Chang'e-3 lunar probe with the country's first moon rover aboard on Dec.14, marking a significant step toward deep space exploration.Lunar environment and environmental tests of typical lunar survyeors are discussed in this papaer.According to the needs of China's lunar exploration project,environmental impact of moon rovers and Yutu design ideas are studied.Through the research, temperature control device, micro-gravity environment design ,dust and other equipment devices used on Yutu all meet the mission requirements.

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 needs.

Opportunity on 'Cabo Frio' (Simulated)

NASA Technical Reports Server (NTRS)

2006-01-01

This image superimposes an artist's concept of the Mars Exploration Rover Opportunity atop the 'Cabo Frio' promontory on the rim of 'Victoria Crater' in the Meridiani Planum region of Mars. It is done to give a sense of scale. The underlying image was taken by Opportunity's panoramic camera during the rover's 952nd Martian day, or sol (Sept. 28, 2006).

This synthetic image of NASA's Opportunity Mars Exploration Rover at Victoria Crater was produced using 'Virtual Presence in Space' technology. Developed at NASA's Jet Propulsion Laboratory, Pasadena, Calif., this technology combines visualization and image processing tools with Hollywood-style special effects. The image was created using a photorealistic model of the rover and an approximately full-color mosaic.

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.

KSC-03pd0764

NASA Image and Video Library

2003-03-20

KENNEDY SPACE CENTER, Fla. - With cables released, this Mars Exploration Rover sits on the floor of the Payload Hazardous Servicing Facility. Processing of the rovers, cruise stage, lander and heat shield elements is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

KSC-03pd0765

NASA Image and Video Library

2003-03-20

KENNEDY SPACE CENTER, Fla. - With cables released, this Mars Exploration Rover (MER) sits on the floor of the Payload Hazardous Servicing Facility. Processing of the rovers, cruise stage, lander and heat shield elements is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

KSC-03pd0762

NASA Image and Video Library

2003-03-20

KENNEDY SPACE CENTER, Fla. - A worker in the Payload Hazardous Servicing Facility makes adjustments on one of the Mars Exploration Rovers (MER). Processing of the rovers, cruise stage, lander and heat shield elements is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

KSC-03pd0761

NASA Image and Video Library

2003-03-20

KENNEDY SPACE CENTER, Fla. - Workers in the Payload Hazardous Servicing Facility look over one of the Mars Exploration Rovers (MER). Processing of the rovers, cruise stage, lander and heat shield elements is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

KSC-03pd0758

NASA Image and Video Library

2003-03-20

KENNEDY SPACE CENTER, FLA. - One of the Mars Exploration Rovers (MER) sits on a stand in the Payload Hazardous Servicing Facility. Processing of the rovers, cruise stage, lander and heat shield elements is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

Spirit Near 'Stapledon' on Sol 1802 (Vertical)

NASA Technical Reports Server (NTRS)

2009-01-01

NASA Mars Exploration Rover Spirit used its navigation camera for the images assembled into this full-circle view of the rover's surroundings during the 1,802nd Martian day, or sol, (January 26, 2009) of Spirit's mission on the surface of Mars. North is at the top.

This view is presented as a vertical projection with geometric seam correction.

Spirit had driven down off the low plateau called 'Home Plate' on Sol 1782 (January 6, 2009) after spending 12 months on a north-facing slope on the northern edge of Home Plate. The position on the slope (at about the 9-o'clock position in this view) tilted Spirit's solar panels toward the sun, enabling the rover to generate enough electricity to survive its third Martian winter. Tracks at about the 11-o'clock position of this panorama can be seen leading back to that 'Winter Haven 3' site from the Sol 1802 position about 10 meters (33 feet) away. For scale, the distance between the parallel wheel tracks is about one meter (40 inches).

Where the receding tracks bend to the left, a circular pattern resulted from Spirit turning in place at a soil target informally named 'Stapledon' after William Olaf Stapledon, a British philosopher and science-fiction author who lived from 1886 to 1950. Scientists on the rover team suspected that the soil in that area might have a high concentration of silica, resembling a high-silica soil patch discovered east of Home Plate in 2007. Bright material visible in the track furthest to the right was examined with Spirit's alpha partical X-ray spectrometer and found, indeed, to be rich in silica.

The team laid plans to drive Spirit from this Sol 1802 location back up onto Home Plate, then southward for the rover's summer field season.

Spirit Near 'Stapledon' on Sol 1802

NASA Technical Reports Server (NTRS)

2009-01-01

NASA Mars Exploration Rover Spirit used its navigation camera for the images assembled into this full-circle view of the rover's surroundings during the 1,802nd Martian day, or sol, (January 26, 2009) of Spirit's mission on the surface of Mars. South is at the center; north is at both ends.

Spirit had driven down off the low plateau called 'Home Plate' on Sol 1782 (January 6, 2009) after spending 12 months on a north-facing slope on the northern edge of Home Plate. The position on the slope (at about the 9-o'clock position in this view) tilted Spirit's solar panels toward the sun, enabling the rover to generate enough electricity to survive its third Martian winter. Tracks at about the 11-o'clock position of this panorama can be seen leading back to that 'Winter Haven 3' site from the Sol 1802 position about 10 meters (33 feet) away. For scale, the distance between the parallel wheel tracks is about one meter (40 inches).

Where the receding tracks bend to the left, a circular pattern resulted from Spirit turning in place at a soil target informally named 'Stapledon' after William Olaf Stapledon, a British philosopher and science-fiction author who lived from 1886 to 1950. Scientists on the rover team suspected that the soil in that area might have a high concentration of silica, resembling a high-silica soil patch discovered east of Home Plate in 2007. Bright material visible in the track furthest to the right was examined with Spirit's alpha partical X-ray spectrometer and found, indeed, to be rich in silica.

The team laid plans to drive Spirit from this Sol 1802 location back up onto Home Plate, then southward for the rover's summer field season.

This view is presented as a cylindrical projection with geometric seam correction.

Spirit Near 'Stapledon' on Sol 1802 (Polar)

NASA Technical Reports Server (NTRS)

2009-01-01

NASA Mars Exploration Rover Spirit used its navigation camera for the images assembled into this full-circle view of the rover's surroundings during the 1,802nd Martian day, or sol, (January 26, 2009) of Spirit's mission on the surface of Mars. North is at the top.

This view is presented as a polar projection with geometric seam correction.

Spirit had driven down off the low plateau called 'Home Plate' on Sol 1782 (January 6, 2009) after spending 12 months on a north-facing slope on the northern edge of Home Plate. The position on the slope (at about the 9-o'clock position in this view) tilted Spirit's solar panels toward the sun, enabling the rover to generate enough electricity to survive its third Martian winter. Tracks at about the 11-o'clock position of this panorama can be seen leading back to that 'Winter Haven 3' site from the Sol 1802 position about 10 meters (33 feet) away. For scale, the distance between the parallel wheel tracks is about one meter (40 inches).

Where the receding tracks bend to the left, a circular pattern resulted from Spirit turning in place at a soil target informally named 'Stapledon' after William Olaf Stapledon, a British philosopher and science-fiction author who lived from 1886 to 1950. Scientists on the rover team suspected that the soil in that area might have a high concentration of silica, resembling a high-silica soil patch discovered east of Home Plate in 2007. Bright material visible in the track furthest to the right was examined with Spirit's alpha partical X-ray spectrometer and found, indeed, to be rich in silica.

The team laid plans to drive Spirit from this Sol 1802 location back up onto Home Plate, then southward for the rover's summer field season.

KSC-03PD-1850

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Nine-year-old Sofi Collis is introduced to the media at a press conference. The Siberian-born Arizona resident wrote the winning entry in the Name the Rovers Contest sponsored by NASA and the Lego Co., a Denmark-based toymaker, with collaboration from the Planetary Society, Pasadena, Calif. The names she selected for the Mars Exploration Rovers are 'Spirit' and 'Opportunity.' The third grader's essay was chosen from more than 10,000 American student entries. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

Advanced Radioisotope Power System Enabled Titan Rover Concept with Inflatable Wheels

NASA Astrophysics Data System (ADS)

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 Explorer mission. This paper discusses a Titan rover concept, enabled by a single advanced Radioisotope Power System that could provide about 110 We (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 RPSs 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.

Availability of feature-oriented scanning probe microscopy for remote-controlled measurements on board a space laboratory or planet exploration Rover.

PubMed

Lapshin, Rostislav V

2009-06-01

Prospects for a feature-oriented scanning (FOS) approach to investigations of sample surfaces, at the micrometer and nanometer scales, with the use of scanning probe microscopy under space laboratory or planet exploration rover conditions, are examined. The problems discussed include decreasing sensitivity of the onboard scanning probe microscope (SPM) to temperature variations, providing autonomous operation, implementing the capabilities for remote control, self-checking, self-adjustment, and self-calibration. A number of topical problems of SPM measurements in outer space or on board a planet exploration rover may be solved via the application of recently proposed FOS methods.

MARS PATHFINDER CAMERA TEST IN SAEF-2

NASA Technical Reports Server (NTRS)

1996-01-01

In the Spacecraft Assembly and Encapsulation Facility-2 (SAEF-2), workers from the Jet Propulsion Laboratory (JPL) are conducting a systems test of the imager for the Mars Pathfinder. The imager (white and metallic cylindrical element close to hand of worker at left) is a specially designed camera featuring a stereo- imaging system with color capability provided by a set of selectable filters. It is mounted atop an extendable mast on the Pathfinder lander. Visible to the far left is the small rover which will be deployed from the lander to explore the Martian surface. Transmitting back to Earth images of the trail left by the rover will be one of the mission objectives for the imager. To the left of the worker standing near the imager is the mast for the low-gain antenna; the round high-gain antenna is to the right. Visible in the background is the cruise stage that will carry the Pathfinder on a direct trajectory to Mars. The Mars Pathfinder is one of two Mars-bound spacecraft slated for launch aboard Delta II expendable launch vehicles this year.

Spirit Beside 'Home Plate,' Sol 1809 (Stereo)

NASA Technical Reports Server (NTRS)

2009-01-01

[figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11803 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11803

NASA Mars Exploration Rover Spirit used its navigation camera to take the images assembled into this stereo, 120-degree view southward after a short drive during the 1,809th Martian day, or sol, of Spirit's mission on the surface of Mars (February 3, 2009).

By combining images from the left-eye and right-eye sides of the navigation camera, the view appears three-dimensional when viewed through red-blue glasses with the red lens on the left.

Spirit had driven about 2.6 meters (8.5 feet) that sol, continuing a clockwise route around a low plateau called 'Home Plate.' In this image, the rocks visible above the rovers' solar panels are on the slope at the northern edge of Home Plate.

This view is presented as a cylindrical-perspective projection with geometric seam correction.

Operation and performance of the Mars Exploration Rover imaging system on the Martian surface

NASA Technical Reports Server (NTRS)

Maki, Justin N.; Litwin, Todd; Herkenhoff, Ken

2005-01-01

The Imaging System on the Mars Exploration Rovers has successfully operated on the surface of Mars for over one Earth year. An overview of the surface imaging activities is provided, along with a summary of the image data acquired to date.

Looking Back at Spirit Trail to the Summit Stereo

NASA Image and Video Library

2005-10-21

Before moving on to explore more of Mars, NASA Mars Exploration Rover Spirit looked back at the long and winding trail of twin wheel tracks the rover created to get to the top of Husband Hill. 3D glasses are necessary to view this image.

A Well-Traveled 'Eagle Crater' (left-eye)

NASA Technical Reports Server (NTRS)

2004-01-01

This is the left-eye version of the Mars Exploration Rover Opportunity's view on its 56th sol on Mars, before it left its landing-site crater. To the right, the rover tracks are visible at the original spot where the rover attempted unsuccessfully to exit the crater. After a one-sol delay, Opportunity took another route to the plains of Meridiani Planum. This image was taken by the rover's navigation camera.

Rock Dusting Leaves 'Mickey Mouse' Mark

NASA Technical Reports Server (NTRS)

2004-01-01

This image taken by the navigation camera on the Mars Exploration Rover Spirit shows the rock dubbed 'Humphrey' and the circular areas on the rock that were wiped off by the rover. The rover used a brush on its rock abrasion tool to clean these spots before examining them with its miniature thermal emission spectrometer. Later, the rover drilled into the rock with its rock abrasion tool, exposing fresh rock underneath.

Students Race Rovers on a Martian and Lunar-themed Obstacle Course

NASA Image and Video Library

2017-01-05

NASA's Human Exploration Rover Challenge encourages STEM-based research and development of new technologies focusing on current plans to explore planets, moons, asteroids and comets -- all members of the solar system family. This year's race will be held March 30 - April 1, 2017, at the U.S. Space & Rocket Center in Huntsville, Alabama. The challenge will focus on designing, constructing and testing technologies for mobility devices to perform in these different environments, and it will provide valuable experiences that engage students in the technologies and concepts that will be needed in future exploration missions. Rovers will be human-powered and carry two students, one female and one male, over a half-mile obstacle course of simulated extraterrestrial terrain of craters, boulders, ridges, inclines, crevasses and depressions. Follow them on social media at: TWITTER: https://twitter.com/RoverChallenge FACEBOOK: https://www.facebook.com/roverchallenge/ Or visit the website at: www.nasa.gov/roverchallenge

Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Trease, Brian

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 project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting system, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction System), 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 Adams dynamic modeling software. The external library was built in Fortran and called by Adams to model the wheel-soil interactions include the rut-formation effect of deformable soils, lateral and longitudinal forces, bull-dozing effects, and applied wheel torque. The paper presents the details and implementation of the system. To validate the developed system, one study case is presented from a realistic drive on Mars of the Opportunity rover. The simulation results match well from the measurement of on-board 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.

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, a crane is in place to lift the fairing for the Mars Exploration Rover 2 (MER-2/MER-A). The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, a crane is in place to lift the fairing for the Mars Exploration Rover 2 (MER-2/MER-A). The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - The fairing for the Mars Exploration Rover 2 (MER-2/MER-A) arrives at Launch Complex 17-A, Cape Canaveral Air Force Station. It will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - The fairing for the Mars Exploration Rover 2 (MER-2/MER-A) arrives at Launch Complex 17-A, Cape Canaveral Air Force Station. It will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - On Launch Pad 17-B, Cape Canaveral Air Force Station, the Mars Exploration Rover 1 (MER-B) arrives at the tower landing where it will be mated with the Delta rocket. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

NASA Image and Video Library

2003-06-17

KENNEDY SPACE CENTER, FLA. - On Launch Pad 17-B, Cape Canaveral Air Force Station, the Mars Exploration Rover 1 (MER-B) arrives at the tower landing where it will be mated with the Delta rocket. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

KENNEDY SPACE CENTER, FLA. - Workers on Launch Pad 17-B, Cape Canaveral Air Force Station, complete mating of the Mars Exploration Rover 1 (MER-B), above, to the Delta rocket below. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

NASA Image and Video Library

2003-06-17

KENNEDY SPACE CENTER, FLA. - Workers on Launch Pad 17-B, Cape Canaveral Air Force Station, complete mating of the Mars Exploration Rover 1 (MER-B), above, to the Delta rocket below. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

KENNEDY SPACE CENTER, FLA. - On Launch Pad 17-B, Cape Canaveral Air Force Station, the Mars Exploration Rover 1 (MER-B) is lifted up the tower for mating with the Delta rocket. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

NASA Image and Video Library

2003-06-17

KENNEDY SPACE CENTER, FLA. - On Launch Pad 17-B, Cape Canaveral Air Force Station, the Mars Exploration Rover 1 (MER-B) is lifted up the tower for mating with the Delta rocket. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

KENNEDY SPACE CENTER, FLA. - In the gantry on Launch Complex 17-B, Cape Canaveral Air Force Station, workers start removing the canister from around the Mars Exploration Rover 1 (MER-B). The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

NASA Image and Video Library

2003-06-17

KENNEDY SPACE CENTER, FLA. - In the gantry on Launch Complex 17-B, Cape Canaveral Air Force Station, workers start removing the canister from around the Mars Exploration Rover 1 (MER-B). The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

KENNEDY SPACE CENTER, FLA. - The Mars Exploration Rover 1 (MER-B) arrives at Launch Pad 17-B, Cape Canaveral Air Force Station, where it will be mated with the Delta rocket for launch. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

NASA Image and Video Library

2003-06-17

KENNEDY SPACE CENTER, FLA. - The Mars Exploration Rover 1 (MER-B) arrives at Launch Pad 17-B, Cape Canaveral Air Force Station, where it will be mated with the Delta rocket for launch. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

KENNEDY SPACE CENTER, FLA. - The Mars Exploration Rover 1 (MER-B) is moved out of the Payload Hazardous Servicing Facility for transfer to Launch Pad 17-B, Cape Canaveral Air Force Station. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

NASA Image and Video Library

2003-06-17

KENNEDY SPACE CENTER, FLA. - The Mars Exploration Rover 1 (MER-B) is moved out of the Payload Hazardous Servicing Facility for transfer to Launch Pad 17-B, Cape Canaveral Air Force Station. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

KSC-03pd0753

NASA Image and Video Library

2003-03-17

KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, workers check alignment of the Rover Equipment Deck (RED) on one of the Mars Exploration Rovers (MER) with the Warm Electronics Box (WEB). Processing of the rovers, plus cruise stage, lander and heat shield elements, is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

KSC-03pd0756

NASA Image and Video Library

2003-03-17

KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, the Rover Equipment Deck (RED) on one of the Mars Exploration Rovers (MER) is integrated to the Warm Electronics Box (WEB) on the WEB cart. Processing of the rovers, plus cruise stage, lander and heat shield elements, is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

KSC-03pd0754

NASA Image and Video Library

2003-03-17

KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, the Rover Equipment Deck (RED) on one of the Mars Exploration Rovers (MER) is integrated to the Warm Electronics Box (WEB) on the WEB cart. Processing of the rovers, plus cruise stage, lander and heat shield elements, is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

ISRU Reactant, Fuel Cell Based Power Plant for Robotic and Human Mobile Exploration Applications

NASA Technical Reports Server (NTRS)

Baird, Russell S.; Sanders, Gerald; Simon, Thomas; McCurdy, Kerri

2003-01-01

Three basic power generation system concepts are generally considered for lander, rover, and Extra-Vehicular Activity (EVA) assistant applications for robotic and human Moon and Mars exploration missions. The most common power system considered is the solar array and battery system. While relatively simple and successful, solar array/battery systems have some serious limitations for mobile applications. For typical rover applications, these limitations include relatively low total energy storage capabilities, daylight only operating times (6 to 8 hours on Mars), relatively short operating lives depending on the operating environment, and rover/lander size and surface use constraints. Radioisotope power systems are being reconsidered for long-range science missions. Unfortunately, the high cost, political controversy, and launch difficulties that are associated with nuclear-based power systems suggests that the use of radioisotope powered landers, rovers, and EVA assistants will be limited. The third power system concept now being considered are fuel cell based systems. Fuel cell power systems overcome many of the performance and surface exploration limitations of solar array/battery power systems and the prohibitive cost and other difficulties associated with nuclear power systems for mobile applications. In an effort to better understand the capabilities and limitations of fuel cell power systems for Moon and Mars exploration applications, NASA is investigating the use of in-Situ Resource Utilization (ISRU) produced reactant, fuel cell based power plants to power robotic outpost rovers, science equipment, and future human spacecraft, surface-excursion rovers, and EVA assistant rovers. This paper will briefly compare the capabilities and limitations of fuel cell power systems relative to solar array/battery and nuclear systems, discuss the unique and enhanced missions that fuel cell power systems enable, and discuss the common technology and system attributes possible for robotic and human exploration to maximize scientific return and minimize cost and risk to both. Progress made to date at the Johnson Space Center on an ISRU producible reactant, Proton Exchange Membrane (PEM) fuel cell based power plant project to demonstrate the concept in conjunction with rover applications will be presented in detail.

ISRU Reactant, Fuel Cell Based Power Plant for Robotic and Human Mobile Exploration Applications

NASA Astrophysics Data System (ADS)

Baird, Russell S.; Sanders, Gerald; Simon, Thomas; McCurdy, Kerri

2003-01-01

Three basic power generation system concepts are generally considered for lander, rover, and Extra-Vehicular Activity (EVA) assistant applications for robotic and human Moon and Mars exploration missions. The most common power system considered is the solar array and battery system. While relatively simple and successful, solar array/battery systems have some serious limitations for mobile applications. For typical rover applications, these limitations include relatively low total energy storage capabilities, daylight only operating times (6 to 8 hours on Mars), relatively short operating lives depending on the operating environment, and rover/lander size and surface use constraints. Radioisotope power systems are being reconsidered for long-range science missions. Unfortunately, the high cost, political controversy, and launch difficulties that are associated with nuclear-based power systems suggests that the use of radioisotope powered landers, rovers, and EVA assistants will be limited. The third power system concept now being considered are fuel cell based systems. Fuel cell power systems overcome many of the performance and surface exploration limitations of solar array/battery power systems and the prohibitive cost and other difficulties associated with nuclear power systems for mobile applications. In an effort to better understand the capabilities and limitations of fuel cell power systems for Moon and Mars exploration applications. NASA is investigating the use of In-Situ Resource Utilization (ISRU) produced reactant, fuel cell based power plants to power robotic outpost rovers, science equipment, and future human spacecraft, surface-excursion rovers, and EVA assistant rovers. This paper will briefly compare the capabilities and limitations of fuel cell power systems relative to solar array/battery and nuclear systems, discuss the unique and enhanced missions that fuel cell power systems enable, and discuss the common technology and system attributes possible for robotic and human exploration to maximize scientific return and minimize cost and risk to both. Progress made to date at the Johnson Space Center on an ISRU producible reactant. Proton Exchange Membrane (PEM) fuel cell based power plant project for use in the first demonstration of this concept in conjunction with rover applications will be presented in detail.

KSC-03PD-1836

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Sofi Collis, the third grade student winner of the 'Name the Rovers' contest, poses with a model of a rover. The names she proposed -- Spirit and Opportunity -- were announced today in a press conference held by NASA Administrator Sean O'Keefe. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

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.

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.

Axel Robotic Platform for Crater and Extreme Terrain Exploration

NASA Technical Reports Server (NTRS)

Nesnas, Issa A.; Matthews, Jaret B.; Edlund, Jeffrey A.; Burdick, Joel W.; Abad-Manterola, Pablo

2012-01-01

To be able to conduct science investigations on highly sloped and challenging terrains, it is necessary to deploy science payloads to such locations and collect and process in situ samples. A tethered robotic platform has been developed that is capable of exploring very challenging terrain. The Axel rover is a symmetrical rover that is minimally actuated, can traverse arbitrary paths, and operate upside-down or right-side up. It can be deployed from a larger platform (rover, lander, or aerobot) or from a dual Axel configuration. Axel carries and manages its own tether, reducing damage to the tether during operations. Fundamentally, Axel is a two-wheeled rover with a symmetric body and a trailing link. Because the primary goal is minimal complexity, this version of the Axel rover uses only four primary actuators to control its wheels, tether, and a trailing link. A fifth actuator is used for level winding of tether onto Axel s spool.

Searching for Subsurface Lunar Water Ice using a Nuclear-Powered Rover

NASA Astrophysics Data System (ADS)

Randolph, James E.; Abelson, Robert D.; Oxnevad, Knut I.; Shirley, James H.

2005-02-01

The Vision for Space Exploration has identified the Earth's moon as a future destination for human explorers as a stepping-stone for further manned deep space exploration. The feasibility of building and maintaining a human presence on the moon could be directly related to whether in-situ resources, especially water ice, can be obtained and utilized by astronauts. With the recent success of both Mars Exploration Rovers (MERs), it is clear that a lunar rover could be a desirable platform with which to search for evidence of lunar water prior to the arrival of astronauts. However, since surface water can only exist in permanently shadowed areas of the moon (i.e., deep craters near the poles), conventionally powered rovers would not be practical for exploring these areas for extended periods. Thus, a study was performed to assess the feasibility of a lunar rover mission enabled by small radioisotope power systems (RPS), i.e., systems that use single GPHSs. Small RPSs, the feasibility of which has been looked at by the Department of Energy, would be capable of providing sufficient electrical and thermal power to allow scientific measurements and operations of a small rover on the floor of dark lunar craters. A conceptual study was completed that considered the science instruments that could be accommodated on a MER-type rover using RPS power. To investigate the subsurface characteristics of the crater floor, a pulsed gamma ray/neutron spectrometer and a ground-penetrating radar would be used. Also, a drill would provide core samples from a depth of 1 meter. A rover architecture consistent with MER capabilities included a mast with panoramic cameras and navigation cameras as well as an instrument deployment device (IDD) that allowed direct contact between the instrument head and surface materials to be measured. Because the crater floor is eternally dark, artificial illumination must be used for both landing and roving operations. The rover design included of dual headlights that would be operated during visual imaging observations. During the landing approach, the lander would use a laser imaging technique to image the approaching surface and react to that image to avoid hazards. The baseline rover concept used four GPHS power sources for a total of about 50 We in conjunction with a 25 A hr battery to supply power during peak loads. A detailed analysis of energy usage for various operational scenarios (e.g. roving, science instrument operations, and telecommunications) was completed using an elaborate power simulation tool. The results show that very demanding activities are possible on a daily basis while maintaining the battery charging.

The Mars Astrobiology Explorer-Cacher (MAX-C): a potential rover mission for 2018. Final report of the Mars Mid-Range Rover Science Analysis Group (MRR-SAG) October 14, 2009.

PubMed

2010-03-01

This report documents the work of the Mid-Range Rover Science Analysis Group (MRR-SAG), which was assigned to formulate a concept for a potential rover mission that could be launched to Mars in 2018. Based on programmatic and engineering considerations as of April 2009, our deliberations assumed that the potential mission would use the Mars Science Laboratory (MSL) sky-crane landing system and include a single solar-powered rover. The mission would also have a targeting accuracy of approximately 7 km (semimajor axis landing ellipse), a mobility range of at least 10 km, and a lifetime on the martian surface of at least 1 Earth year. An additional key consideration, given recently declining budgets and cost growth issues with MSL, is that the proposed rover must have lower cost and cost risk than those of MSL--this is an essential consideration for the Mars Exploration Program Analysis Group (MEPAG). The MRR-SAG was asked to formulate a mission concept that would address two general objectives: (1) conduct high priority in situ science and (2) make concrete steps toward the potential return of samples to Earth. The proposed means of achieving these two goals while balancing the trade-offs between them are described here in detail. We propose the name Mars Astrobiology Explorer-Cacher(MAX-C) to reflect the dual purpose of this potential 2018 rover mission.

KSC-03pd0980

NASA Image and Video Library

2003-04-04

KENNEDY SPACE CENTER, FLA. - Workers prepare the shrouded Mars Exploration Rover 2 (MER-2) for mating to the lander. Set to launch in Spring 2003, the MER Mission consists of two identical rovers, landing at different regions of Mars, designed to cover roughly 110 yards each Martian day over various terrain. 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 first rover has a launch window opening May 30, and the second rover a window opening June 25.

Cutting the Cord

NASA Technical Reports Server (NTRS)

2004-01-01

This animation shows the view from the front hazard avoidance cameras on the Mars Exploration Rover Spirit as the rover turns 45 degrees clockwise. This maneuver is the first step in a 3-point turn that will rotate the rover 115 degrees to face west. The rover must make this turn before rolling off the lander because airbags are blocking it from exiting off the front lander petal. Before this crucial turn could take place, engineers instructed the rover to cut the final cord linking it to the lander. The turn took around 30 minutes to complete.

Cutting the Cord-2

NASA Technical Reports Server (NTRS)

2004-01-01

This animation shows the view from the rear hazard avoidance cameras on the Mars Exploration Rover Spirit as the rover turns 45 degrees clockwise. This maneuver is the first step in a 3-point turn that will rotate the rover 115 degrees to face west. The rover must make this turn before rolling off the lander because airbags are blocking it from exiting from the front lander petal. Before this crucial turn took place, engineers instructed the rover to cut the final cord linking it to the lander. The turn took around 30 minutes to complete.

KSC-03pd1249

NASA Image and Video Library

2003-04-25

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility help guide the Mars Exploration Rover 1 (MER-1) as it is moved to the lander base petal for installation. The MER Mission consists of two identical rovers, landing at different regions of Mars, designed to cover roughly 110 yards each Martian day over various terrain. 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 first rover has a launch window opening June 5, and the second rover a window opening June 25. The rovers will be launched from Cape Canaveral Air Force Station.

KSC-03pd1250

NASA Image and Video Library

2003-04-25

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility guide the Mars Exploration Rover 1 (MER-1) as it is lowered onto the lander base petal for installation. The MER Mission consists of two identical rovers, landing at different regions of Mars, designed to cover roughly 110 yards each Martian day over various terrain. 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 first rover has a launch window opening June 5, and the second rover a window opening June 25. The rovers will be launched from Cape Canaveral Air Force Station.

KSC-03pd1251

NASA Image and Video Library

2003-04-25

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility guide the Mars Exploration Rover 1 (MER-1) as it is lowered onto the lander base petal for installation. The MER Mission consists of two identical rovers, landing at different regions of Mars, designed to cover roughly 110 yards each Martian day over various terrain. 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 first rover has a launch window opening June 5, and the second rover a window opening June 25. The rovers will be launched from Cape Canaveral Air Force Station.

Crane Lowers Aeroshell

NASA Technical Reports Server (NTRS)

2003-01-01

January 31, 2003

In the Payload Hazardous Servicing Facility, an overhead crane lowers the Mars Exploration Rover (MER) aeroshell toward 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.

KSC-03pd0771

NASA Image and Video Library

2003-03-20

KENNEDY SPACE CENTER, Fla. - The solar arrays on the Mars Exploration Rover-2 (MER-2) are fully opened during a test in the Payload Hazardous Servicing Facility. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

KSC-03pd0957

NASA Image and Video Library

2003-04-02

KENNEDY SPACE CENTER, FLA. - The Mars Exploration Rover 1 (MER-1) is seen in the foreground after the science boom was deployed. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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.

KSC-03pd0909

NASA Image and Video Library

2003-03-29

KENNEDY SPACE CENTER, FLA. - Workers gather around the Mars Exploration Rover 2 (MER-2) before flight stow of the solar panels, still extended. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. 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 first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0232

NASA Image and Video Library

2003-01-31

KENNEDY SPACE CENTER, FLA. -- In the Payload Hazardous Servicing Facility, an overhead crane lifts 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.

KSC-03pd0913

NASA Image and Video Library

2003-03-29

KENNEDY SPACE CENTER, FLA. - Workers begin closing the solar panels on the Mars Exploration Rover 2 (MER-2) for flight stow. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. 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 first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0438

NASA Image and Video Library

2003-02-04

KENNEDY SPACE CENTER, FLA. -- The aeroshell for Mars Exploration Rover 2 rests on a rotation stand in the Payload Hazardous Servicing Facility. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

KSC-03pd0230

NASA Image and Video Library

2003-01-31

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, the Mars Exploration Rover (MER) aeroshell is being prepared 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.

KSC-03pd0768

NASA Image and Video Library

2003-03-20

KENNEDY SPACE CENTER, FLA. -- The Mars Exploration Rover-2 (MER-2) is ready for solar array testing in the Payload Hazardous Servicing Facility. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

KSC-03pd0786

NASA Image and Video Library

2003-03-21

KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, the Mars Exploration Rover-2 (MER-2) is tested for mobility and maneuverability. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

KSC-03pd0234

NASA Image and Video Library

2003-01-31

KENNEDY SPACE CENTER, FLA. -- In the Payload Hazardous Servicing Facility, an overhead crane lowers the Mars Exploration Rover (MER) aeroshell toward 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.

KSC-03pd0457

NASA Image and Video Library

2003-02-06

KENNEDY SPACE CENTER, FLA. -- Technicians secure the aeroshell for Mars Exploration Rover 2 to a workstand in the Payload Hazardous Servicing Facility. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

KSC-03pd0439

NASA Image and Video Library

2003-02-04

KENNEDY SPACE CENTER, FLA. -- The aeroshell for Mars Exploration Rover 2 rests on end after rotation in the Payload Hazardous Servicing Facility. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

KSC-03pd0236

NASA Image and Video Library

2003-01-31

KENNEDY SPACE CENTER, FLA. -- Workers in the Payload Hazardous Servicing Facility help guide the Mars Exploration Rover (MER) aeroshell onto 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.

KSC-03pd0235

NASA Image and Video Library

2003-01-31

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility help guide the Mars Exploration Rover (MER) aeroshell as it is lowered toward 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.

KSC-03pd0440

NASA Image and Video Library

2003-02-04

KENNEDY SPACE CENTER, FLA. - During processing, workers in the Payload Hazardous Servicing Facility work on part of the aeroshell for Mars Exploration Rover 2. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards 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.

KSC-03pd0955

NASA Image and Video Library

2003-04-02

KENNEDY SPACE CENTER, FLA. - A worker examines the Mars Exploration Rover 1 (MER-1) after the science boom was deployed. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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.

KSC-03pd0911

NASA Image and Video Library

2003-03-29

KENNEDY SPACE CENTER, FLA. - A worker checks a component of the Mars Exploration Rover 2 (MER-2) before flight stow of the solar panels, still extended. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. 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 first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0958

NASA Image and Video Library

2003-04-02

KENNEDY SPACE CENTER, FLA. - On the Mars Exploration Rover 1 (MER-1), the science boom, below the front petal, is deployed. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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.

KSC-03pd0910

NASA Image and Video Library

2003-03-29

KENNEDY SPACE CENTER, FLA. - Workers make additional checks of the Mars Exploration Rover 2 (MER-2) before flight stow of the solar panels, still extended. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. 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 first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0793

NASA Image and Video Library

2003-03-21

KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, the Mars Exploration Rover-2 (MER-2) rolls over ramps to test its mobility and maneuverability. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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.

KSC-03pd0914

NASA Image and Video Library

2003-03-29

KENNEDY SPACE CENTER, FLA. - After closing the solar panels for flight stow, workers examine the Mars Exploration Rover 2 (MER-2). Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. 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 first rover has a launch window opening May 30, and the second rover a window opening June 25.

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

The Collaborative Information Portal and NASA's Mars Exploration Rover Mission

NASA Technical Reports Server (NTRS)

Mak, Ronald; Walton, Joan

2005-01-01

The Collaborative Information Portal was enterprise software developed jointly by the NASA Ames Research Center and the Jet Propulsion Laboratory for NASA's Mars Exploration Rover mission. Mission managers, engineers, scientists, and researchers used this Internet application to view current staffing and event schedules, download data and image files generated by the rovers, receive broadcast messages, and get accurate times in various Mars and Earth time zones. This article describes the features, architecture, and implementation of this software, and concludes with lessons we learned from its deployment and a look towards future missions.

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.

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.

Wheel Installation

NASA Image and Video Library

2010-07-07

In this picture, the Curiosity rover sports a set of six new wheels. The wheels were installed on June 28 and 29 in the Spacecraft Assembly Facility at NASA Jet Propulsion Laboratory, Pasadena, Calif.

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 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 state histories stored in the OSS for comparison and validation of downlinked telemetry. The majority of components comprising RSVP utilize the MER command and activity dictionaries to automatically customize the system for MER activities.

KSC-03pd1230

NASA Image and Video Library

2003-04-24

KENNEDY SPACE CENTER, FLA. - This closeup shows the size of the computer chip that holds about 35,000 laser-engraved signatures of visitors to the Mars Exploration Rovers at the Jet Propulsion Laboratory. It will be placed on the second rover to be launched to Mars; the first rover already has one. The signatures include those of senators, artists, and John Glenn. The identical Mars rovers are scheduled to launch June 5 and June 25 from Cape Canaveral Air Force Station.

KSC-03pd1232

NASA Image and Video Library

2003-04-24

KENNEDY SPACE CENTER, FLA. - Jim Lloyd, with the Mars Exploration Rover program, holds a computer chip with about 35,000 laser-engraved signatures of visitors to the Jet Propulsion Laboratory. The chip will be placed on the second rover to be launched to Mars (MER-1/MER-B); the first rover already has one. The signatures include those of senators, artists, and John Glenn. The identical Mars rovers are scheduled to launch June 5 and June 25 from Cape Canaveral Air Force Station.

KENNEDY SPACE CENTER, FLA. - After arriving at Launch Complex 17-A, Cape Canaveral Air Force Station, the second half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) is lifted off its transporter. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - After arriving at Launch Complex 17-A, Cape Canaveral Air Force Station, the second half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) is lifted off its transporter. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the first half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) is lifted up the launch tower. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the first half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) is lifted up the launch tower. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the first half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) reaches the top of the launch tower. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the first half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) reaches the top of the launch tower. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the first half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) is lifted off the transporter. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the first half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) is lifted off the transporter. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the first half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) is moved inside the launch tower. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5..

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the first half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) is moved inside the launch tower. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5..

KSC-03pd0795

NASA Image and Video Library

2003-03-21

KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, workers watch as the Mars Exploration Rover-2 (MER-2) rolls over ramps to test its mobility and maneuverability. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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.

KSC-03pd0791

NASA Image and Video Library

2003-03-21

KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, workers watch as the Mars Exploration Rover-2 (MER-2) rolls over ramps to test its mobility and maneuverability. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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.

KSC-03pd0790

NASA Image and Video Library

2003-03-21

KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, workers watch as the Mars Exploration Rover-2 (MER-2) rolls over ramps to test its mobility and maneuverability. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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.

KSC-03pd0233

NASA Image and Video Library

2003-01-31

KENNEDY SPACE CENTER, FLA. - Suspended by an overhead crane in the Payload Hazardous Servicing Facility, the Mars Exploration Rover (MER) aeroshell is guided by workers as it moves 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.

KSC-03PD-1852

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Nine-year-old Sofi Collis (left) shares a light moment with NASA Administrator Sean O'Keefe at a press conference. The Siberian-born Arizona resident wrote the winning entry in the Name the Rovers Contest sponsored by NASA and the Lego Co., a Denmark-based toymaker, with collaboration from the Planetary Society, Pasadena, Calif. The names she selected for the Mars Exploration Rovers are 'Spirit' and 'Opportunity.' The third grader's essay was chosen from more than 10,000 American student entries. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

KSC-03PD-1851

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Nine-year-old Sofi Collis (left) is introduced to the media by NASA Administrator Sean O'Keefe at a press conference. The Siberian-born Arizona resident wrote the winning entry in the Name the Rovers Contest sponsored by NASA and the Lego Co., a Denmark-based toymaker, with collaboration from the Planetary Society, Pasadena, Calif. The names she selected for the Mars Exploration Rovers are 'Spirit' and 'Opportunity.' The third grader's essay was chosen from more than 10,000 American student entries. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

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.

Ground-based real-time tracking and traverse recovery of China's first lunar rover

NASA Astrophysics Data System (ADS)

Zhou, Huan; Li, Haitao; Xu, Dezhen; Dong, Guangliang

2016-02-01

The Chang'E-3 unmanned lunar exploration mission forms an important stage in China's Lunar Exploration Program. China's first lunar rover "Yutu" is a sub-probe of the Chang'E-3 mission. Its main science objectives cover the investigations of the lunar soil and crust structure, explorations of mineral resources, and analyses of matter compositions. Some of these tasks require accurate real-time and continuous position tracking of the rover. To achieve these goals with the scale-limited Chinese observation network, this study proposed a ground-based real-time very long baseline interferometry phase referencing tracking method. We choose the Chang'E-3 lander as the phase reference source, and the accurate location of the rover is updated every 10 s using its radio-image sequences with the help of a priori information. The detailed movements of the Yutu rover have been captured with a sensitivity of several centimeters, and its traverse across the lunar surface during the first few days after its separation from the Chang'E-3 lander has been recovered. Comparisons and analysis show that the position tracking accuracy reaches a 1-m level.

PIA05044

NASA Image and Video Library

2004-01-11

This mosaic image taken by the navigation camera on the Mars Exploration Rover Spirit represents an overhead view of the rover as it prepares to roll off the lander and onto the martian surface. The yellow arrow illustrates the direction the rover may take to roll safely off the lander. The rover was originally positioned to roll straight forward off the lander (south side of image). However, an airbag is blocking its path. To take this northeastern route, the rover must back up and perform what is likened to a 3-point turn in a cramped parking lot. http://photojournal.jpl.nasa.gov/catalog/PIA05044

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.

'Bird's Eye' View of Egress

NASA Technical Reports Server (NTRS)

2004-01-01

[figure removed for brevity, see original site]

This mosaic image taken by the navigation camera on the Mars Exploration Rover Spirit represents an overhead view of the rover as it prepares to roll off the lander and onto the martian surface. The yellow arrow illustrates the direction the rover may take to roll safely off the lander. The rover was originally positioned to roll straight forward off the lander (south side of image). However, an airbag is blocking its path. To take this northeastern route, the rover must back up and perform what is likened to a 3-point turn in a cramped parking lot.

Spirit Beholds Bumpy Boulder

NASA Technical Reports Server (NTRS)

2006-01-01

As NASA's Mars Exploration Rover Spirit began collecting images for a 360-degree panorama of new terrain, the rover captured this view of a dark boulder with an interesting surface texture. The boulder sits about 40 centimeters (16 inches) tall on Martian sand about 5 meters (16 feet) away from Spirit. It is one of many dark, volcanic rock fragments -- many pocked with rounded holes called vesicles -- littering the slope of 'Low Ridge.' The rock surface facing the rover is similar in appearance to the surface texture on the outside of lava flows on Earth.

Spirit took this approximately true-color image with the panoramic camera on the rover's 810th sol, or Martian day, of exploring Mars (April 13, 2006), using the camera's 753-nanometer, 535-nanometer, and 432-nanometer filters.

Peeling Back the Layers of Mars

NASA Technical Reports Server (NTRS)

2004-01-01

This is a 3-D model of the trench excavated by the Mars Exploration Rover Opportunity on the 23rd day, or sol, of its mission. An oblique view of the trench from a bit above and to the right of the rover's right wheel is shown. The model was generated from images acquired by the rover's front hazard-avoidance cameras.

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.

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.

KSC-03PD-1849

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Nine-year-old Sofi Collis (third from left) and her family pose proudly with a banner displaying the names she selected for the Mars Exploration Rovers -- 'Spirit' and 'Opportunity' -- following a press conference announcing the names. The names Sofi suggested were chosen from more than 10,000 student entries in an essay contest managed for NASA by the LEGO Company. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

KSC-03PD-1847

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Nine-year-old Sofi Collis (left) is congratulated by NASA Administrator Sean O'Keefe for selecting the names of the Mars Exploration Rovers -- 'Spirit' and 'Opportunity' -- during a press conference. The names Sofi suggested were chosen from more than 10,000 student entries in an essay contest managed for NASA by the LEGO Company. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

KSC-2012-3316

NASA Image and Video Library

2012-06-12

CAPE CANAVERAL, Fla. – NASA In Situ Resource Utilization Project Manager William Larson, back to rover, discusses the design and operation of the prototype rover Artemis Jr. for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project with media representatives during a rover demonstration in a field beside the Operations and Checkout Building at NASA’s Kennedy Space Center in Florida. The rover and its drill are provided by the Canadian Space Agency and work in concert with NASA science instruments to prospect for water, ice and other lunar resources. RESOLVE also will demonstrate how future explorers can take advantage of resources at potential landing sites by manufacturing oxygen from soil. NASA will conduct field tests in July outside of Hilo, Hawaii, with equipment and concept vehicles that demonstrate how explorers might prospect for resources and make their own oxygen for survival while on other planetary bodies. For more information, visit http://www.nasa.gov/exploration/analogs/index.html. Photo credit: NASA/Dimitri Gerondidakis

Air Bag Installation

NASA Technical Reports Server (NTRS)

2003-01-01

May 10, 2003Prelaunch at Kennedy Space Center

On Mars Exploration Rover 1 (MER-1) , air bags are installed on the lander. The airbags will inflate to cushion the landing of the spacecraft on the surface of Mars. When it stops bouncing and rolling, the airbags will deflate and retract, the petals will open to bring the lander to an upright position, and the rover will be exposed. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

Downward Slope

NASA Technical Reports Server (NTRS)

2004-01-01

This false-color image from NASA's Mars Exploration Rover Opportunity panoramic camera shows a downward view from the rover as it sits at the edge of 'Endurance' crater. The gradual, 'blueberry'-strewn slope before the rover contains an exposed dark layer of rock that wraps around the upper section of the crater. Scientists suspect that this rock layer will provide clues about Mars' distant past. This mosaic image comprises images taken from 10 rover positions using 750, 530 and 430 nanometer filters, acquired on sol 131 (June 6, 2004).

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.

Approaching Rock Target No. 1

NASA Technical Reports Server (NTRS)

2004-01-01

This 3-D stereo anaglyph image was taken by the Mars Exploration Rover Spirit front hazard-identification camera after the rover's first post-egress drive on Mars Sunday. Engineers drove the rover approximately 3 meters (10 feet) from the Columbia Memorial Station toward the first rock target, seen in the foreground. The football-sized rock was dubbed Adirondack because of its mountain-shaped appearance. Scientists plan to use instruments at the end of the rover's robotic arm to examine the rock and understand how it formed.

Adirondack Under the Microscope

NASA Technical Reports Server (NTRS)

2004-01-01

This image was taken by the Mars Exploration Rover Spirit front hazard-identification camera after the rover's first post-egress drive on Mars Sunday, Jan. 15, 2004. Engineers drove the rover approximately 3 meters (10 feet) from the Columbia Memorial Station toward the first rock target, seen in the foreground. The football-sized rock was dubbed Adirondack because of its mountain-shaped appearance. Scientists have begun using the microscopic imager instrument at the end of the rover's robotic arm to examine the rock and understand how it formed.

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).

Entry trajectory and atmosphere reconstruction methodologies for the Mars Exploration Rover mission

NASA Astrophysics Data System (ADS)

Desai, Prasun N.; Blanchard, Robert C.; Powell, Richard W.

2004-02-01

The Mars Exploration Rover (MER) mission will land two landers on the surface of Mars, arriving in January 2004. Both landers will deliver the rovers to the surface by decelerating with the aid of an aeroshell, a supersonic parachute, retro-rockets, and air bags for safely landing on the surface. The reconstruction of the MER descent trajectory and atmosphere profile will be performed for all the phases from hypersonic flight through landing. A description of multiple methodologies for the flight reconstruction is presented from simple parameter identification methods through a statistical Kalman filter approach.

KSC-03PD-0514

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. - At NASA's Family & Community Mars Exploration Day held in Cape Canaveral, Fla., students look at a remote-controlled model of the Mars Exploration Rover. The event informed students and the general public about Florida's key role as NASA's 'Gateway to Mars' and offered an opportunity to meet with scientists, engineers, educators and others working Mars exploration missions. The Mars Exploration Rovers are being prepared for launch this spring aboard Boeing Delta II rockets from the Cape Canaveral Air Force Station. They will land on Mars and start exploring in January 2004.

KSC-03pd0514

NASA Image and Video Library

2003-02-19

KENNEDY SPACE CENTER, FLA. - At NASA's Family & Community Mars Exploration Day held in Cape Canaveral, Fla., students look at a remote-controlled model of the Mars Exploration Rover. The event informed students and the general public about Florida's key role as NASA's "Gateway to Mars" and offered an opportunity to meet with scientists, engineers, educators and others working Mars exploration missions. The Mars Exploration Rovers are being prepared for launch this spring aboard Boeing Delta II rockets from the Cape Canaveral Air Force Station. They will land on Mars and start exploring in January 2004.

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.

KENNEDY SPACE CENTER, FLA. - 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.

NASA Image and Video Library

2003-07-07

KENNEDY SPACE CENTER, FLA. - 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.

Photometric Observations of Soils and Rocks at the Mars Exploration Rover Landing Sites

NASA Technical Reports Server (NTRS)

Johnson, J. R.; Arvidson, R. A.; Bell, J. F., III; Farrand, W.; Guinness, E.; Johnson, M.; Herkenhoff, K. E.; Lemmon, M.; Morris, R. V.; Seelos, F., IV

2005-01-01

The Panoramic Cameras (Pancam) on the Spirit and Opportunity Mars Exploration Rovers have acquired multispectral reflectance observations of rocks and soils at different incidence, emission, and phase angles that will be used for photometric modeling of surface materials. Phase angle coverage at both sites extends from approx. 0 deg. to approx. 155 deg.

KSC-03PD-1578

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Workers in the Payload Hazardous Servicing Facility prepare to lift and move the backshell that will cover the Mars Exploration Rover 1 (MER-1) and its lander. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

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.

KENNEDY SPACE CENTER, FLA. - Nine-year-old Sofi Collis poses proudly with a banner displaying the names she selected for the Mars Exploration Rovers -- "Spirit" and "Opportunity" -- during a press conference. Participating in the press conference are, from left, Brad Justus, LEGO Co. senior vice president; Sofi Collis, a third grade student from Arizona; Dr. John Marburger, science advisor to the President and director of the Office of Science and Technology Policy; and NASA Administrator Sean O'Keefe. The names Sofi suggested were selected from more than 10,000 student entries in an essay contest managed for NASA by the LEGO Company. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

NASA Image and Video Library

2003-06-08

KENNEDY SPACE CENTER, FLA. - Nine-year-old Sofi Collis poses proudly with a banner displaying the names she selected for the Mars Exploration Rovers -- "Spirit" and "Opportunity" -- during a press conference. Participating in the press conference are, from left, Brad Justus, LEGO Co. senior vice president; Sofi Collis, a third grade student from Arizona; Dr. John Marburger, science advisor to the President and director of the Office of Science and Technology Policy; and NASA Administrator Sean O'Keefe. The names Sofi suggested were selected from more than 10,000 student entries in an essay contest managed for NASA by the LEGO Company. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

KENNEDY SPACE CENTER, FLA. - Nine-year-old Sofi Collis poses proudly with a banner displaying the names she selected for the Mars Exploration Rovers -- "Spirit" and "Opportunity" -- during a press conference. Participating in the press conference are, from left, Brad Justus, LEGO Co. senior vice president; Sofi Collis, third grade student from Arizona; Dr. John Marburger, science advisor to the President and director of the Office of Science and Technology Policy; and NASA Administrator Sean O'Keefe. The names Sofi suggested were selected from more than 10,000 student entries in an essay contest managed for NASA by the LEGO Company. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

NASA Image and Video Library

2003-06-08

KENNEDY SPACE CENTER, FLA. - Nine-year-old Sofi Collis poses proudly with a banner displaying the names she selected for the Mars Exploration Rovers -- "Spirit" and "Opportunity" -- during a press conference. Participating in the press conference are, from left, Brad Justus, LEGO Co. senior vice president; Sofi Collis, third grade student from Arizona; Dr. John Marburger, science advisor to the President and director of the Office of Science and Technology Policy; and NASA Administrator Sean O'Keefe. The names Sofi suggested were selected from more than 10,000 student entries in an essay contest managed for NASA by the LEGO Company. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

KENNEDY SPACE CENTER, FLA. - Nine-year-old Sofi Collis unveils the names of the Mars Exploration Rovers -- "Spirit" and "Opportunity" -- during a press conference. Participating in the press conference are, from left, Dr. John Marburger, science advisor to the President and director of the Office of Science and Technology Policy; NASA Administrator Sean O'Keefe; Sofi Collis, a third grade student from Arizona; and Brad Justus, LEGO Co. senior vice president. The names Sofi suggested were selected from more than 10,000 student entries in an essay contest managed for NASA by the LEGO Company. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

NASA Image and Video Library

2003-06-08

KENNEDY SPACE CENTER, FLA. - Nine-year-old Sofi Collis unveils the names of the Mars Exploration Rovers -- "Spirit" and "Opportunity" -- during a press conference. Participating in the press conference are, from left, Dr. John Marburger, science advisor to the President and director of the Office of Science and Technology Policy; NASA Administrator Sean O'Keefe; Sofi Collis, a third grade student from Arizona; and Brad Justus, LEGO Co. senior vice president. The names Sofi suggested were selected from more than 10,000 student entries in an essay contest managed for NASA by the LEGO Company. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

Lunar surface exploration using mobile robots

NASA Astrophysics Data System (ADS)

Nishida, Shin-Ichiro; Wakabayashi, Sachiko

2012-06-01

A lunar exploration architecture study is being carried out by space agencies. JAXA is carrying out research and development of a mobile robot (rover) to be deployed on the lunar surface for exploration and outpost construction. The main target areas for outpost construction and lunar exploration are mountainous zones. The moon's surface is covered by regolith. Achieving a steady traversal of such irregular terrain constitutes the major technical problem for rovers. A newly developed lightweight crawler mechanism can effectively traverse such irregular terrain because of its low contact force with the ground. This fact was determined on the basis of the mass and expected payload of the rover. This paper describes a plan for Japanese lunar surface exploration using mobile robots, and presents the results of testing and analysis needed in their development. This paper also gives an overview of the lunar exploration robot to be deployed in the SELENE follow-on mission, and the composition of its mobility, navigation, and control systems.

At Home in the Crater

NASA Technical Reports Server (NTRS)

2004-01-01

The wheel tracks seen above and to the left of the lander trace the path the Mars Exploration Rover Opportunity has traveled since landing in a small crater at Meridiani Planum, Mars. After this picture was taken, the rover excavated a trench near the soil seen at the lower left corner of the image. This image mosaic was taken by the rover's navigation camera.

KSC-03pd1235

NASA Image and Video Library

2003-04-24

KENNEDY SPACE CENTER, FLA. - Jim Lloyd, with the Mars Exploration Rover (MER) program, places on MER-1 a computer chip with about 35,000 laser-engraved signatures of visitors to the rovers at the Jet Propulsion Laboratory. The signatures include those of senators, artists, and John Glenn. The identical Mars rovers are scheduled to launch June 5 and June 25 from Cape Canaveral Air Force Station.

Lander and rover exploration on the lunar surface: A study for SELENE-B mission

NASA Astrophysics Data System (ADS)

Selene-B Rover Science Group; Sasaki, S.; Sugihara, T.; Saiki, K.; Akiyama, H.; Ohtake, M.; Takeda, H.; Hasebe, N.; Kobayashi, M.; Haruyama, J.; Shirai, K.; Kato, M.; Kubota, T.; Kunii, Y.; Kuroda, Y.

The SELENE-B, a lunar landing mission, has been studied in Japan, where a scientific investigation plan is proposed using a robotic rover and a static lander. The main theme to be investigated is to clarify the lunar origin and evolution, especially for early crustal formation process probably from the ancient magma ocean. The highest priority is placed on a direct in situ geology at a crater central peak, “a window to the interior”, where subcrustal materials are exposed and directly accessed without drilling. As a preliminary study was introduced by Sasaki et al. [Sasaki, S., Kubota, T., Okada, T. et al. Scientific exploration of lunar surface using a rover in Japanse future lunar mission. Adv. Space Res. 30, 1921 1926, 2002.], the rover and lander are jointly used, where detailed analyses of the samples collected by the rover are conducted at the lander. Primary scientific instruments are a multi-band stereo imager, a gamma-ray spectrometer, and a sampling tool on the rover, and a multi-spectral telescopic imager, a sampling system, and a sample analysis package with an X-ray spectrometer/diffractometer, a multi-band microscope as well as a sample cleaning and grinding device on the lander.

Cape Verde

NASA Technical Reports Server (NTRS)

2007-01-01

This Mars Exploration Rover Opportunity Pancam 'super resolution' mosaic of the approximately 6 m (20 foot) high cliff face of the Cape Verde promontory was taken by the rover from inside Victoria Crater, during the rover's descent into Duck Bay. Super-resolution is an imaging technique which utilizes information from multiple pictures of the same target in order to generate an image with a higher resolution than any of the individual images. Cape Verde is a geologically rich outcrop and is teaching scientists about how rocks at Victoria crater were modified since they were deposited long ago. This image complements super resolution mosaics obtained at Cape St. Mary and Cape St. Vincent and is consistent with the hypothesis that Victoria crater is located in the middle of what used to be an ancient sand dune field. Many rover team scientists are hoping to be able to eventually drive the rover closer to these layered rocks in the hopes of measuring their chemistry and mineralogy.

This is a Mars Exploration Rover Opportunity Panoramic Camera image mosaic acquired on sols 1342 and 1356 (November 2 and 17, 2007), and was constructed from a mathematical combination of 64 different blue filter (480 nm) images.

KSC-03pd0987

NASA Image and Video Library

2003-04-04

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility examine the Mars Exploration Rover 2 (MER-2) as it is lowered onto the base petal of the lander. Set to launch in Spring 2003, the MER Mission consists of two identical rovers. Landing at different regions of Mars, they are designed to cover roughly 110 yards each Martian day over various terrain. 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 first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0984

NASA Image and Video Library

2003-04-04

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility check the Mars Exploration Rover 2 (MER-2) before it is lifted and moved to the lander where it will be mated to the base petal. Set to launch in Spring 2003, the MER Mission consists of two identical rovers, landing at different regions of Mars, designed to cover roughly 110 yards each Martian day over various terrain. 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 first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0988

NASA Image and Video Library

2003-04-04

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility release the overhead crane used to lower the Mars Exploration Rover 2 (MER-2) onto the base petal of the lander. Set to launch in Spring 2003, the MER Mission consists of two identical rovers. Landing at different regions of Mars, they are designed to cover roughly 110 yards each Martian day over various terrain. 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 first rover has a launch window opening May 30, and the second rover a window opening June 25.

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility prepare Mars Exploration Rover 1 (MER-B) to be mated with the third stage of the Delta rocket that will launch it to Mars. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch from Launch Pad 17-B, Cape Canaveral Air Force Station, June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

NASA Image and Video Library

2003-06-12

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility prepare Mars Exploration Rover 1 (MER-B) to be mated with the third stage of the Delta rocket that will launch it to Mars. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch from Launch Pad 17-B, Cape Canaveral Air Force Station, June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

KENNEDY SPACE CENTER, FLA. - In the background, right, workers in the Payload Hazardous Servicing Facility get ready to lift Mars Exploration Rover 1 (MER-B) to the third stage of the Delta rocket (foreground) for mating. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch from Launch Pad 17-B, Cape Canaveral Air Force Station, June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

NASA Image and Video Library

2003-06-12

KENNEDY SPACE CENTER, FLA. - In the background, right, workers in the Payload Hazardous Servicing Facility get ready to lift Mars Exploration Rover 1 (MER-B) to the third stage of the Delta rocket (foreground) for mating. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch from Launch Pad 17-B, Cape Canaveral Air Force Station, June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers check the connections after the Mars Exploration Rover 1 (MER-B) above was mated with the third stage of the Delta rocket below. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch from Launch Pad 17-B, Cape Canaveral Air Force Station, June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

NASA Image and Video Library

2003-06-12

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers check the connections after the Mars Exploration Rover 1 (MER-B) above was mated with the third stage of the Delta rocket below. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-B is scheduled to launch from Launch Pad 17-B, Cape Canaveral Air Force Station, June 26 at one of two available times, 12:27:31 a.m. EDT or 1:08:45 a.m. EDT.

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the first half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) is raised to a vertical position for its lift up the launch tower. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the first half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) is raised to a vertical position for its lift up the launch tower. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the second half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) is raised to a vertical position for its lift up the launch tower. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the second half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) is raised to a vertical position for its lift up the launch tower. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the second half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) nears the top of the launch tower. The fairing will be installed around the payload for protection during launch on a Delta II rocket. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the second half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) nears the top of the launch tower. The fairing will be installed around the payload for protection during launch on a Delta II rocket. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

Mars Science Laboratory Spacecraft Assembled for Testing

NASA Image and Video Library

2008-11-19

The major components of NASA Mars Science Laboratory spacecraft -- cruise stage atop the aeroshell, which has the descent stage and rover inside -- were connected together in October 2008 for several weeks of system testing.

Pancam Mast Assembly on Mars Rover

NASA Technical Reports Server (NTRS)

Warden, Robert M.; Cross, Mike; Harvison, Doug

2004-01-01

The Pancam Mast Assembly (PMA) for the 2003 Mars Rover is a deployable structure that provides an elevated platform for several cameras. The PMA consists of several mechanisms that enable it to raise the cameras as well as point the cameras in all directions. This paper describes the function of the various mechanisms as well as a description of the mechanisms and some test parameters. Designing these mechanisms to operate on the surface of Mars presented several challenges. Typical spacecraft mechanisms must operate in zero-gravity and high vacuum. These mechanisms needed to be designed to operate in Martian gravity and atmosphere. Testing conditions were a little easier because the mechanisms are not required to operate in a vacuum. All of the materials are vacuum compatible, but the mechanisms were tested in a dry nitrogen atmosphere at various cold temperatures.

Airbag Trails

NASA Technical Reports Server (NTRS)

2004-01-01

This segment of the first color image from the panoramic camera on the Mars Exploration Rover Spirit shows the rover's airbag trails. These depressions in the soil were made when the airbags were deflated and retracted after landing.

Endeavour on the Horizon False Color

NASA Image and Video Library

2010-04-30

NASA Mars Exploration Rover Opportunity used its panoramic camera Pancam to capture this false-color view of the rim of Endeavour crater, the rover destination in a multi-year traverse along the sandy Martian landscape.

Endeavour on the Horizon

NASA Image and Video Library

2010-04-30

NASA Mars Exploration Rover Opportunity used its panoramic camera Pancam to capture this view approximately true-color view of the rim of Endeavour crater, the rover destination in a multi-year traverse along the sandy Martian landscape.

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.

Almost Like Being at Bonneville

NASA Image and Video Library

2004-03-17

NASA Mars Exploration Rover Spirit took this 3-D navigation camera mosaic of the crater called Bonneville. The rover solar panels can be seen in the foreground. 3D glasses are necessary to view this image.

Adirondack Under the Microscope-2

NASA Technical Reports Server (NTRS)

2004-01-01

This overhead look at the martian rock dubbed Adirondack was captured by the Mars Exploration Rover Spirit's panoramic camera. It shows the approximate region where the rover's microscopic imager began its first close-up inspection.

Lander Trench Dug by Opportunity

NASA Image and Video Library

2015-01-27

On March 20, 2004, NASA Mars Exploration Rover Opportunity used a wheel to dig a trench revealing subsurface material beside the lander hardware that carried the rover to the surface of Mars 55 Martian days earlier.

Rover Rehearses Roll-Off at JPL

NASA Image and Video Library

2004-01-15

Footage from the JPL In-Situ Instruments Laboratory, or testbed, shows engineers rehearsing a crucial maneuver called egress in which NASA Mars Exploration Rover Spirit rolls off its lander platform and touches martian soil.

KENNEDY SPACE CENTER, FLA. --Shown upside down to read the names, this plaque commemorating the STS-107 Space Shuttle Columbia crew now looks over the Mars landscape after the successful landing and deployment of the Mars Exploration Rover “Spirit” Jan. 4 onto the red planet. The plaque, mounted on the high-gain antenna, is shown while the rover underwent final checkout March 28, 2003, in the Payload Hazardous Servicing Facility at KSC.

NASA Image and Video Library

2004-01-06

KENNEDY SPACE CENTER, FLA. --Shown upside down to read the names, this plaque commemorating the STS-107 Space Shuttle Columbia crew now looks over the Mars landscape after the successful landing and deployment of the Mars Exploration Rover “Spirit” Jan. 4 onto the red planet. The plaque, mounted on the high-gain antenna, is shown while the rover underwent final checkout March 28, 2003, in the Payload Hazardous Servicing Facility at KSC.

Spirit Beholds Bumpy Boulder (False Color)

NASA Technical Reports Server (NTRS)

2006-01-01

As NASA's Mars Exploration Rover Spirit began collecting images for a 360-degree panorama of new terrain, the rover captured this view of a dark boulder with an interesting surface texture. The boulder sits about 40 centimeters (16 inches) tall on Martian sand about 5 meters (16 feet) away from Spirit. It is one of many dark, volcanic rock fragments -- many pocked with rounded holes called vesicles -- littering the slope of 'Low Ridge.' The rock surface facing the rover is similar in appearance to the surface texture on the outside of lava flows on Earth.

Spirit took this false-color image with the panoramic camera on the rover's 810th sol, or Martian day, of exploring Mars (April 13, 2006). This image is a false-color rendering using camera's 753-nanometer, 535-nanometer, and 432-nanometer filters.

Attitude determination of planetary exploration rovers using solar panels characteristics and accelerometer

NASA Astrophysics Data System (ADS)

Ishida, Takayuki; Takahashi, Masaki

2014-12-01

In this study, we propose a new attitude determination system, which we call Irradiance-based Attitude Determination (IRAD). IRAD employs the characteristics and geometry of solar panels. First, the sun vector is estimated using data from solar panels including current, voltage, temperature, and the normal vectors of each solar panel. Because these values are obtained using internal sensors, it is easy for rovers to provide redundancy for IRAD. The normal vectors are used to apply to various shapes of rovers. Second, using the gravity vector obtained from an accelerometer, the attitude of a rover is estimated using a three-axis attitude determination method. The effectiveness of IRAD is verified through numerical simulations and experiments that show IRAD can estimate all the attitude angles (roll, pitch, and yaw) within a few degrees of accuracy, which is adequate for planetary explorations.

High gain antenna pointing on the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Vanelli, C. Anthony; Ali, Khaled S.

2005-01-01

This paper describes the algorithm used to point the high gain antennae on NASA/JPL's Mars Exploration Rovers. The gimballed antennae must track the Earth as it moves across the Martian sky during communication sessions. The algorithm accounts for (1) gimbal range limitations, (2) obstructions both on the rover and in the surrounding environment, (3) kinematic singularities in the gimbal design, and (4) up to two joint-space solutions for a given pointing direction. The algorithm computes the intercept-times for each of the occlusions and chooses the jointspace solution that provides the longest track time before encountering an occlusion. Upon encountering an occlusion, the pointing algorithm automatically switches to the other joint-space solution if it is not also occluded. The algorithm has successfully provided flop-free pointing for both rovers throughout the mission.

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.

Lunar Thermal Wadis and Exploration Rovers: Outpost Productivity and Participatory Exploration

NASA Technical Reports Server (NTRS)

Sacksteder, Kurt; Wegeng, Robert; Suzuki, Nantel

2009-01-01

The presentation introduces the concept of a thermal wadi, an engineered source of thermal energy that can be created using native material on the moon or elsewhere to store solar energy for use by various lunar surface assets to survive the extremely cold environment of the lunar night. A principal benefit of this approach to energy storage is the low mass requirement for transportation from Earth derived from the use of the lunar soil, or regolith, as the energy storage medium. The presentation includes a summary of the results of a feasibility study involving the numerical modeling of the performance of a thermal wadi including a manufactured thermal mass, a solar energy reflector, a nighttime thermal energy reflector and a lunar surface rover. The feasibility study shows that sufficient thermal energy can be stored using unconcentrated solar flux to keep a lunar surface rover sufficiently warm throughout a 354 hour lunar night at the lunar equator, and that similar approaches can be used to sustain surface assets during shorter dark periods that occur at the lunar poles. The presentation includes descriptions of a compact lunar rover concept that could be used to manufacture a thermal wadi and could alternatively be used to conduct a variety of high-value tasks on the lunar surface. Such rovers can be produced more easily because the capability for surviving the lunar night is offloaded to the thermal wadi infrastructure. The presentation also includes several concepts for operational scenarios that could be implemented on the moon using the thermal wadi and compact rover concepts in which multiple affordable rovers, operated by multiple terrestrial organizations, can conduct resource prospecting and human exploration site preparation tasks.

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 state histories stored in the OSS for comparison and validation of downlinked telemetry. The majority of components comprising RSVP utilize the MER command and activity dictionaries to automatically customize the system for MER activities. Thus, RSVP, being highly data driven, may be tailored to other missions with minimal effort. In addition, RSVP uses a distributed, message-passing architecture to allow multitasking, and collaborative visualization and sequence development by scattered team members.

2018 Human Exploration Rover Challenge

NASA Image and Video Library

2018-04-13

High school and university students competed in the 2018 Human Exploration Rover Challenge event at the U.S. Space and Rocket Center in Huntsville, Alabama. Students came from across the U.S. as well as several foreign countries such as Brazil, Germany, India, and Mexico. This event, which is normally a 2 day event, was shortened to 1 day in 2018 due to adverse weather conditions.

CE-4 Mission and Future Journey to Lunar

NASA Astrophysics Data System (ADS)

Zou, Yongliao; Wang, Qin; Liu, Xiaoqun

2016-07-01

Chang'E-4 mission, being undertaken by phase two of China Lunar Exploration Program, represents China's first attempt to explore farside of lunar surface. Its probe includes a lander, a rover and a telecommunication relay which is scheduled to launch in around 2018. The scientific objectives of CE-4 mission will be implemented to investigate the lunar regional geological characteristics of landing and roving area, and also will make the first radio-astronomy measurements from the most radio-quiet region of near-earth space. The rover will opreate for at least 3 months, the lander for half a year, and the relay for no less than 3 years. Its scinetific instruments includes Cameras, infrared imaging spectrometer, Penetrating Radar onboard the rover in which is the same as the paylads on board the CE-3 rover, and a Dust-analyzer, a Temperature-instrument and a Wide Band Low Frequency Digital Radio Astronomical Station will be installed on board the lander. Our scientific goals of the future lunar exploration will aim at the lunar geology, resources and surface environments. A series of exploraion missions such as robotic exploration and non-manned lunar scientific station is proposed in this paper.

Assessment of Spatial Navigation and Docking Performance During Simulated Rover Tasks

NASA Technical Reports Server (NTRS)

Wood, S. J.; Dean, S. L.; De Dios, Y. E.; Moore, S. T.

2010-01-01

INTRODUCTION: Following long-duration exploration transits, pressurized rovers will enhance surface mobility to explore multiple sites across Mars and other planetary bodies. Multiple rovers with docking capabilities are envisioned to expand the range of exploration. However, adaptive changes in sensorimotor and cognitive function may impair the crew s ability to safely navigate and perform docking tasks shortly after transition to the new gravitoinertial environment. The primary goal of this investigation is to quantify post-flight decrements in spatial navigation and docking performance during a rover simulation. METHODS: Eight crewmembers returning from the International Space Station will be tested on a motion simulator during four pre-flight and three post-flight sessions over the first 8 days following landing. The rover simulation consists of a serial presentation of discrete tasks to be completed within a scheduled 10 min block. The tasks are based on navigating around a Martian outpost spread over a 970 sq m terrain. Each task is subdivided into three components to be performed as quickly and accurately as possible: (1) Perspective taking: Subjects use a joystick to indicate direction of target after presentation of a map detailing current orientation and location of the rover with the task to be performed. (2) Navigation: Subjects drive the rover to the desired location while avoiding obstacles. (3) Docking: Fine positioning of the rover is required to dock with another object or align a camera view. Overall operator proficiency will be based on how many tasks the crewmember can complete during the 10 min time block. EXPECTED RESULTS: Functionally relevant testing early post-flight will develop evidence regarding the limitations to early surface operations and what countermeasures are needed. This approach can be easily adapted to a wide variety of simulated vehicle designs to provide sensorimotor assessments for other operational and civilian populations.

KSC-03PD-1601

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Workers attach an overhead crane to the Mars Exploration Rover 1 (MER-1) inside the upper backshell. The backshell will be moved and attached to the lower heat shield. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

KSC-03PD-1603

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Workers walk with the suspended backshell/ Mars Exploration Rover 1 (MER-1) as it travels across the floor of the Payload Hazardous Servicing Facility. The backshell will be attached to the lower heat shield. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

KSC-03PD-1605

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. In the Payload Hazardous Servicing Facility, workers move the heat shield (foreground) toward the upper backshell/ Mars Exploration Rover 1 (MER-1), in the background. The backshell and heat shield will be mated. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

KSC-03PD-1587

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. A solid rocket booster arrives at Launch Complex 17-A, Cape Canaveral Air Force Station. It is one of nine that will be mated to the Delta rocket to launch Mars Exploration Rover 2. NASAs twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans cant yet go. MER-2 is scheduled to launch June 5 as MER-A. MER-1 (MER-B) will launch June 25.

Two Years of Chemical Sampling on Meridiani Planum by the Alpha Particle X-Ray Spectrometer Onboard the Mars Exploration Rover Opportunity

NASA Technical Reports Server (NTRS)

Bruckner, J.; Gellert, R.; Clark, B.C.; Dreibus, G.; Rieder, R.; Wanke, H.; d'Uston, C.; Economou, T.; Klingelhofer, G.; Lugmair, G.;

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.

Reliability and Qualification of Hardware to Enhance the Mission Assurance of JPL/NASA Projects

NASA Technical Reports Server (NTRS)

Ramesham, Rajeshuni

2010-01-01

Packaging Qualification and Verification (PQV) and life testing of advanced electronic packaging, mechanical assemblies (motors/actuators), and interconnect technologies (flip-chip), platinum temperature thermometer attachment processes, and various other types of hardware for Mars Exploration Rover (MER)/Mars Science Laboratory (MSL), and JUNO flight projects was performed to enhance the mission assurance. The qualification of hardware under extreme cold to hot temperatures was performed with reference to various project requirements. The flight like packages, assemblies, test coupons, and subassemblies were selected for the study to survive three times the total number of expected temperature cycles resulting from all environmental and operational exposures occurring over the life of the flight hardware including all relevant manufacturing, ground operations, and mission phases. Qualification/life testing was performed by subjecting flight-like qualification hardware to the environmental temperature extremes and assessing any structural failures, mechanical failures or degradation in electrical performance due to either overstress or thermal cycle fatigue. Experimental flight qualification test results will be described in this presentation.

Large Multispectral and Albedo Panoramas Acquired by the Pancam Instruments on the Mars Exploration Rovers Spirit and Opportunity

NASA Technical Reports Server (NTRS)

Bell, J. F., III; Arneson, H. M.; Farrand, W. H.; Goetz, W.; Hayes, A. G.; Herkenhoff, K.; Johnson, M. J.; Johnson, J. R.; Joseph, J.; Kinch, K.

2005-01-01

Introduction. The panoramic camera (Pancam) multispectral, stereoscopic imaging systems on the Mars Exploration Rovers Spirit and Opportunity [1] have acquired and downlinked more than 45,000 images (35 Gbits of data) over more than 700 combined sols of operation on Mars as of early January 2005. A large subset of these images were acquired as part of 26 large multispectral and/or broadband "albedo" panoramas (15 on Spirit, 11 on Opportunity) covering large ranges of azimuth (12 spanning 360 ) and designed to characterize major regional color and albedo characteristics of the landing sites and various points along both rover traverses.

What Lies Ahead (left-eye)

NASA Technical Reports Server (NTRS)

2004-01-01

This is the left-eye version of the 3-D cylindrical-perspective mosaic showing the view south of the martian crater dubbed 'Bonneville.' The image was taken by the navigation camera on the Mars Exploration Rover Spirit. The rover will travel toward the Columbia Hills, seen here at the upper left. The rock dubbed 'Mazatzal' and the hole the rover drilled in to it can be seen at the lower left. The rover's position is referred to as 'Site 22, Position 32.' This image was geometrically corrected to make the horizon appear flat.

'Endurance' Untouched

NASA Technical Reports Server (NTRS)

2004-01-01

This navigation camera mosaic, created from images taken by NASA's Mars Exploration Rover Opportunity on sols 115 and 116 (May 21 and 22, 2004) provides a dramatic view of 'Endurance Crater.' The rover engineering team carefully plotted the safest path into the football field-sized crater, eventually easing the rover down the slopes around sol 130 (June 12, 2004). To the upper left of the crater sits the rover's protective heatshield, which sheltered Opportunity as it passed through the martian atmosphere. The 360-degree view is presented in a cylindrical projection, with geometric and radiometric seam correction.

'Endurance' Untouched (vertical)

NASA Technical Reports Server (NTRS)

2004-01-01

This navigation camera mosaic, created from images taken by NASA's Mars Exploration Rover Opportunity on sols 115 and 116 (May 21 and 22, 2004) provides a dramatic view of 'Endurance Crater.' The rover engineering team carefully plotted the safest path into the football field-sized crater, eventually easing the rover down the slopes around sol 130 (June 12, 2004). To the upper left of the crater sits the rover's protective heatshield, which sheltered Opportunity as it passed through the martian atmosphere. The 360-degree view is presented in a vertical projection, with geometric and radiometric seam correction.

'Endurance' Untouched (polar)

NASA Technical Reports Server (NTRS)

2004-01-01

This navigation camera mosaic, created from images taken by NASA's Mars Exploration Rover Opportunity on sols 115 and 116 (May 21 and 22, 2004) provides a dramatic view of 'Endurance Crater.' The rover engineering team carefully plotted the safest path into the football field-sized crater, eventually easing the rover down the slopes around sol 130 (June 12, 2004). To the upper left of the crater sits the rover's protective heatshield, which sheltered Opportunity as it passed through the martian atmosphere. The 360-degree view is presented in a polar projection, with geometric and radiometric seam correction.

KSC-03pd1231

NASA Image and Video Library

2003-04-24

KENNEDY SPACE CENTER, FLA. - Tom Shain, the MER ATLO logistics manager, holds a computer chip with about 35,000 laser-engraved signatures of visitors to the Mars Exploration Rovers at the Jet Propulsion Laboratory. He and Jim Lloyd, also with the program, will place the chip on the second rover to be launched to Mars (MER-1/MER-B); the first rover already has one. The signatures include those of senators, artists, and John Glenn. The identical Mars rovers are scheduled to launch June 5 and June 25 from Cape Canaveral Air Force Station.

A Sampling of Martian Soils

NASA Image and Video Library

2012-12-03

This collage shows the variety of soils found at landing sites on Mars. The elemental composition of the typical, reddish soils were investigated by NASA Viking, Pathfinder and Mars Exploration Rover missions, and now with the Curiosity rover.

Opportunity Surroundings After 25 Miles on Mars

NASA Image and Video Library

2014-08-14

This July 29, 2014, panorama combines several images from the navigation camera on NASA Mars Exploration Rover Opportunity to show the rover surroundings after surpassing 25 miles 40.23 kilometers of total driving on Mars.

Spirit Robotic Stretch on Sol 2052

NASA Image and Video Library

2009-10-19

NASA Mars Exploration Rover Spirit recorded this forward view of its arm and surroundings; bright soil in the left half of the image is loose, fluffy material churned by the rover left-front wheel as Spirit.

Turning in the Testbed

NASA Image and Video Library

2004-01-13

This image, taken in the JPL In-Situ Instruments Laboratory or Testbed, shows the view from the front hazard avoidance cameras on the Mars Exploration Rover Spirit after the rover has backed up and turned 45 degrees counterclockwise.

MER surface fault protection system

NASA Technical Reports Server (NTRS)

Neilson, Tracy

2005-01-01

The Mars Exploration Rovers surface fault protection design was influenced by the fact that the solar-powered rovers must recharge their batteries during the day to survive the night. the rovers needed to autonomously maintain thermal stability, initiate safe and reliable communication with orbiting assets or directly to Earth, while maintaining energy balance. This paper will describe the system fault protection design for the surface phase of the mission.

Spirit Switches on Its X-ray Vision

NASA Technical Reports Server (NTRS)

2004-01-01

This image shows the Mars Exploration Rover Spirit probing its first target rock, Adirondack. At the time this picture was snapped, the rover had begun analyzing the rock with the alpha particle X-ray spectrometer located on its robotic arm. This instrument uses alpha particles and X-rays to determine the elemental composition of martian rocks and soil. The image was taken by the rover's hazard-identification camera.

Opportunity Egress Aid Contacts Soil

NASA Technical Reports Server (NTRS)

2004-01-01

This image from the navigation camera on the Mars Exploration Rover Opportunity shows the rover's egress aid touching the martian soil at Meridiani Planum, Mars. The image was taken after the rear lander petal hyperextended in a manuever to tilt the lander forward. The maneuver pushed the front edge lower, placing the tips of the egress aids in the soil. The rover will drive straight ahead to exit the lander.

After Opportunity's First Drive in Six Weeks

NASA Technical Reports Server (NTRS)

2007-01-01

NASA's Mars Exploration Rover Opportunity used its front hazard-identification camera to obtain this image at the end of a drive on the rover's 1,271st sol, or Martian day (Aug. 21, 2007).

Due to sun-obscuring dust storms limiting the rover's supply of solar energy, Opportunity had not driven since sol 1,232 (July 12, 2007). On sol 1,271, after the sky above Opportunity had been gradually clearing for more than two weeks, the rover rolled 13.38 meters (44 feet). Wheel tracks are visible in front of the rover because the drive ended with a short test of driving backwards.

Opportunity's turret of four tools at the end of the robotic arm fills the center of the image. Victoria Crater, site of the rover's next science targets, lies ahead.

Mars Science Laboratory Mission Curiosity Rover Stereo

NASA Image and Video Library

2011-07-22

This stereo image of NASA Mars Science Laboratory Curiosity Rovert was taken May 26, 2011, in Spacecraft Assembly Facility at NASA Jet Propulsion Laboratory in Pasadena, Calif. 3D glasses are necessary to view this image.

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.

Robot Sequencing and Visualization Program (RSVP)

NASA Technical Reports Server (NTRS)

Cooper, Brian K.; Maxwell,Scott A.; Hartman, Frank R.; Wright, John R.; Yen, Jeng; Toole, Nicholas T.; Gorjian, Zareh; Morrison, Jack C

2013-01-01

The Robot Sequencing and Visualization Program (RSVP) is being used in the Mars Science Laboratory (MSL) mission for downlink data visualization and command sequence generation. RSVP reads and writes downlink data products from the operations data server (ODS) and writes uplink data products to the ODS. The primary users of RSVP are members of the Rover Planner team (part of the Integrated Planning and Execution Team (IPE)), who use it to perform traversability/articulation analyses, take activity plan input from the Science and Mission Planning teams, and create a set of rover sequences to be sent to the rover every sol. The primary inputs to RSVP are downlink data products and activity plans in the ODS database. The primary outputs are command sequences to be placed in the ODS for further processing prior to uplink to each rover. RSVP is composed of two main subsystems. The first, called the Robot Sequence Editor (RoSE), understands the MSL activity and command dictionaries and takes care of converting incoming activity level inputs into command sequences. The Rover Planners use the RoSE component of RSVP to put together command sequences and to view and manage command level resources like time, power, temperature, etc. (via a transparent realtime connection to SEQGEN). The second component of RSVP is called HyperDrive, a set of high-fidelity computer graphics displays of the Martian surface in 3D and in stereo. The Rover Planners can explore the environment around the rover, create commands related to motion of all kinds, and see the simulated result of those commands via its underlying tight coupling with flight navigation, motor, and arm software. This software is the evolutionary replacement for the Rover Sequencing and Visualization software used to create command sequences (and visualize the Martian surface) for the Mars Exploration Rover mission.

Centralized Planning for Multiple Exploratory Robots

NASA Technical Reports Server (NTRS)

Estlin, Tara; Rabideau, Gregg; Chien, Steve; Barrett, Anthony

2005-01-01

A computer program automatically generates plans for a group of robotic vehicles (rovers) engaged in geological exploration of terrain. The program rapidly generates multiple command sequences that can be executed simultaneously by the rovers. Starting from a set of high-level goals, the program creates a sequence of commands for each rover while respecting hardware constraints and limitations on resources of each rover and of hardware (e.g., a radio communication terminal) shared by all the rovers. First, a separate model of each rover is loaded into a centralized planning subprogram. The centralized planning software uses the models of the rovers plus an iterative repair algorithm to resolve conflicts posed by demands for resources and by constraints associated with the all the rovers and the shared hardware. During repair, heuristics are used to make planning decisions that will result in solutions that will be better and will be found faster than would otherwise be possible. In particular, techniques from prior solutions of the multiple-traveling- salesmen problem are used as heuristics to generate plans in which the paths taken by the rovers to assigned scientific targets are shorter than they would otherwise be.

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.

KSC-03PD-1846

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Nine-year-old Sofi Collis proudly presents the names she selected for the Mars Exploration Rovers - - 'Spirit' and 'Opportunity' -- during a press conference. Also participating in the press conference are NASA Administrator Sean O'Keefe (left) and Brad Justus, LEGO Co. senior vice president (right). The names Sofi suggested were selected from more than 10,000 student entries in an essay contest managed for NASA by the LEGO Company. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

Mars Exploration Rover Spirit End of Mission Report

NASA Technical Reports Server (NTRS)

Callas, John L.

2015-01-01

The Mars Exploration Rover (MER) Spirit landed in Gusev crater on Mars on January 4, 2004, for a prime mission designed to last three months (90 sols). After more than six years operating on the surface of Mars, the last communication received from Spirit occurred on Sol 2210 (March 22, 2010). Following the loss of signal, the Mars Exploration Rover Project radiated over 1400 commands to Mars in an attempt to elicit a response from the rover. Attempts were made utilizing Deep Space Network X-Band and UHF relay via both Mars Odyssey and the Mars Reconnaissance Orbiter. Search and recovery efforts concluded on July 13, 2011. It is the MER project's assessment that Spirit succumbed to the extreme environmental conditions experienced during its fourth winter on Mars. Focusing on the time period from the end of the third Martian winter through the fourth winter and end of recovery activities, this report describes possible explanations for the loss of the vehicle and the extent of recovery efforts that were performed. It offers lessons learned and provides an overall mission summary.

Mars Exploration Rover Pancam Photometric Data QUBs: Definition and Example Uses.

NASA Astrophysics Data System (ADS)

Soderblom, J. M.; Bell, J. F.; Arvidson, R. E.; Johnson, J. R.; Johnson, M. J.; Seelos, F. P.

2004-12-01

Pancam multi-spectral observations acquired at the Mars Exploration Rover Spirit and Opportunity landing sites are being assembled into a multi-layer format know as a QUB. For any given pixel in a Pancam image the QUB will contain values for the radiance factor, incidence (i), emission (e), and phase (g) angles, X, Y, and Z distance in a rover-based coordinate system, disparity in number of pixels between the left and right eye images and range data. Good range data is required for the generation of a Pancam QUB. The radiance factor (I/F, where I is the measured scene radiance on sensor and π F is the incident solar irradiance) is calculated using a combination of preflight calibration data and information obtained from near-simultaneous observations of an onboard reflectance calibration target. The range, X, Y, Z and disparity data, and i, e, and g are calculated using routines developed by JPL's MIPL and Cornell. When possible, these data have been interpolated to maximize parameter coverage; a map of non-interpolated data is also included in each QUB. QUBs should prove very useful in photometric studies (e.g., Johnson et al.; Seelos, et al., this conference), detailed spectral analyses (e.g., Bell et al., this conference), and detailed topographic/DTM studies. Here we present two examples of the utilization of the information contained in Pancam QUBs. In one example we remove the photometric variability from spectra collected from multiple facets of a rock using knowledge of i, e, g and derived photometric functions. This is necessary if one wishes to conduct comparative studies of observations acquired under varying geometries and lighting conditions. In another example we present an analysis using the discrete ordinate multiple scattering radiative transfer code DISORT where we separate the atmosphere and surface contributions of the surface reflectance.

2018 Human Exploration Rover Challenge event

NASA Image and Video Library

2018-04-17

High school and university students competed in the 2018 Human Exploration Rover Challenge event at the U.S. Space and Rocket Center in Huntsville, Alabama. Students came from across the U.S. as well as several foreign countries such as Brazil, Germany, India, and Mexico. This event, which is normally a 2 day event, was shortened to 1 day in 2018 due to adverse weather conditions.

Testing the Capture Magnet

NASA Technical Reports Server (NTRS)

2004-01-01

This image of a model capture magnet was taken after an experiment in a Mars simulation chamber at the University of Aarhus, Denmark. It has some dust on it, but not as much as that on the Mars Exploration Rover Spirit's capture magnet. The capture and filter magnets on both Mars Exploration Rovers were delivered by the magnetic properties team at the Center for Planetary Science, Copenhagen, Denmark.

Rock with Odd Coating Beside a Young Martian Crater

NASA Image and Video Library

2010-03-24

This image from the panoramic camera on NASA Mars Exploration Rover Opportunity shows a rock called Chocolate Hills, which the rover found and examined at the edge of a young crater called Concepción.

Airbag Trails-2

NASA Technical Reports Server (NTRS)

2004-01-01

This segment of the first color image from the panoramic camera on the Mars Exploration Rover Spirit shows the rover's airbag trails (upper left). These depressions in the soil were made when the airbags were deflated and retracted after landing.

Opportunity Stretches Out 3-D

NASA Image and Video Library

2004-02-02

This is a three-dimensional stereo anaglyph of an image taken by the front hazard-identification camera onboard NASA Mars Exploration Rover Opportunity, showing the rover arm in its extended position. 3D glasses are necessary to view this image.

Opportunity Surroundings on Sol 1687 Stereo

NASA Image and Video Library

2009-01-05

NASA Mars Exploration Rover Opportunity combined images into this stereo, 360-degree view of the rover surroundings on Oct. 22, 2008. Opportunity position was about 300 meters southwest of Victoria. 3D glasses are necessary to view this image.

Endurance All Around 3-D

NASA Image and Video Library

2004-07-21

This 360-degree stereo anaglyph of the terrain surrounding NASA Mars Exploration Rover Opportunity was taken on the rover 171st sol on Mars. Opportunity had driven 11 meters 36 feet into Endurance Crater. 3D glasses are necessary.

Seeing Rust

NASA Technical Reports Server (NTRS)

2004-01-01

The rust color of the Martian landscape is apparent in this low-resolution thumbnail image taken by the panoramic camera on the Mars Exploration Rover Spirit. This image is part of a larger image currently stored onboard the rover in its memory.

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.

KSC-03PD-1837

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. Siberian-born Sofi Collis (second from left), the third grade student winner of the 'Name the Rovers' contest, poses with her adopted American family. The names she proposed -- Spirit and Opportunity -- were announced today in a press conference held by NASA Administrator Sean O'Keefe. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-A, with the rover Spirit aboard, is scheduled to launch on June 8 at 2:06 p.m. EDT, with two launch opportunities each day during a launch period that closes on June 24.

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.

KSC-03PD-2060

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. The Mobile Service Tower is rolled back at Space Launch Complex 17B, Cape Canaveral Air Force Station, to reveal the Delta II Heavy launch vehicle ready for launch of the Mars Exploration Rover-B (MER-B) mission, with the rover 'Opportunity' aboard. The second of twin rovers being sent to Mars, it is equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow it to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans are not yet able to go. MER-B is scheduled to launch on June 28 at one of two available times, 11:56:16 p.m. EDT or 12:37:59 a.m. EDT on June 29.

Exploration of Planetary Terrains with a Legged Robot as a Scout Adjunct to a Rover

NASA Technical Reports Server (NTRS)

Colombano, Silvano; Kirchner, Frank; Spenneberg, Dirk; Hanratty, James

2004-01-01

The Scorpion robot is an innovative, biologically inspired 8-legged walking robot. It currently runs a novel approach to control which utilizes a central pattern generator (CPG) and local reflex action for each leg. From this starting point we are proposing to both extend the system's individual capabilities and its capacity to function as a "scout", cooperating with a larger wheeled rover. For this purpose we propose to develop a distributed system architecture that extends the system's capabilities both in the direction of high level planning and execution in collaboration with a rover, and in the direction of force-feedback based low level behaviors that will greatly enhance its ability to walk and climb in rough varied terrains. The final test of this improved ability will be a rappelling experiment where the Scorpion explores a steep cliff side in cooperation with a rover that serves as both anchor and planner/executive.

Spirit on 'Husband Hill,' with 2004 Comparison

NASA Technical Reports Server (NTRS)

2006-01-01

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. On Nov. 2, 2005, shortly before Spirit's Martian anniversary, the Mars Orbiter Camera on NASA's Mars Global Surveyor acquired an image centered on the rover's location in the 'Columbia Hills.' The location of Spirit on that date is circled on the image on the right. On the left, for comparison, is an image from Jan. 10, 2004, when few dreamed that the Spirit would ever reach the hills from its landing site about three kilometers (two miles) away.

The newer 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. Dr. Timothy J. Parker of the Mars Exploration Rover team at NASA's Jet Propulsion Laboratory, Pasadena, Calif., confirmed the location of the rover in the 2005 image. The scale bar is 50 meters (164 feet).

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.

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.

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.

ChemCam rock laser for Mars Science Laboratory "Curiosity"

ScienceCinema

Wiens, Roger

2018-02-06

Los Alamos has a long history of space-related instruments, tied primarily to its role in defense-related treaty verification. Space-based detectors have helped determine the differences between signals from lightning bolts and potential nuclear explosions. LANL-developed gamma-ray detection instruments first revealed the existence of what we now know as gamma-ray bursts, an exciting area of astrophysical research. And the use of LANL instruments on varied space missions continues with such products as the ChemCam rock laser for NASA, shown here. The Engineering Model of the ChemCam Mars Science Laboratory rover instrument arrived at NASA's Jet Propulsion Laboratory on February 6, 2008. The Flight Model was shipped in August, 2010 for installation on the rover at JPL. ChemCam will use imaging and laser-induced breakdown spectroscopy (LIBS) to determine rock and soil compositions on Mars, up to 9 meters from the rover. The engineering model is being integrated into the rover test bed for the development and testing of the rover software. The actual flight model components were concurrently assembled at Los Alamos and in Toulouse, France. The Mars Science Laboratory is scheduled to launch in 2011. Animations courtesy of JPL/NASA.

ChemCam rock laser for Mars Science Laboratory "Curiosity"

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wiens, Roger

2010-09-03

Los Alamos has a long history of space-related instruments, tied primarily to its role in defense-related treaty verification. Space-based detectors have helped determine the differences between signals from lightning bolts and potential nuclear explosions. LANL-developed gamma-ray detection instruments first revealed the existence of what we now know as gamma-ray bursts, an exciting area of astrophysical research. And the use of LANL instruments on varied space missions continues with such products as the ChemCam rock laser for NASA, shown here. The Engineering Model of the ChemCam Mars Science Laboratory rover instrument arrived at NASA's Jet Propulsion Laboratory on February 6, 2008.more » The Flight Model was shipped in August, 2010 for installation on the rover at JPL. ChemCam will use imaging and laser-induced breakdown spectroscopy (LIBS) to determine rock and soil compositions on Mars, up to 9 meters from the rover. The engineering model is being integrated into the rover test bed for the development and testing of the rover software. The actual flight model components were concurrently assembled at Los Alamos and in Toulouse, France. The Mars Science Laboratory is scheduled to launch in 2011. Animations courtesy of JPL/NASA.« less

The NASA 2003 Mars Exploration Rover Panoramic Camera (Pancam) Investigation

NASA Astrophysics Data System (ADS)

Bell, J. F.; Squyres, S. W.; Herkenhoff, K. E.; Maki, J.; Schwochert, M.; Morris, R. V.; Athena Team

2002-12-01

The Panoramic Camera System (Pancam) is part of the Athena science payload to be launched to Mars in 2003 on NASA's twin Mars Exploration Rover missions. The Pancam imaging system on each rover consists of two major components: a pair of digital CCD cameras, and the Pancam Mast Assembly (PMA), which provides the azimuth and elevation actuation for the cameras as well as a 1.5 meter high vantage point from which to image. Pancam is a multispectral, stereoscopic, panoramic imaging system, with a field of regard provided by the PMA that extends across 360o of azimuth and from zenith to nadir, providing a complete view of the scene around the rover. Pancam utilizes two 1024x2048 Mitel frame transfer CCD detector arrays, each having a 1024x1024 active imaging area and 32 optional additional reference pixels per row for offset monitoring. Each array is combined with optics and a small filter wheel to become one "eye" of a multispectral, stereoscopic imaging system. The optics for both cameras consist of identical 3-element symmetrical lenses with an effective focal length of 42 mm and a focal ratio of f/20, yielding an IFOV of 0.28 mrad/pixel or a rectangular FOV of 16o\\x9D 16o per eye. The two eyes are separated by 30 cm horizontally and have a 1o toe-in to provide adequate parallax for stereo imaging. The cameras are boresighted with adjacent wide-field stereo Navigation Cameras, as well as with the Mini-TES instrument. The Pancam optical design is optimized for best focus at 3 meters range, and allows Pancam to maintain acceptable focus from infinity to within 1.5 meters of the rover, with a graceful degradation (defocus) at closer ranges. Each eye also contains a small 8-position filter wheel to allow multispectral sky imaging, direct Sun imaging, and surface mineralogic studies in the 400-1100 nm wavelength region. Pancam has been designed and calibrated to operate within specifications from -55oC to +5oC. An onboard calibration target and fiducial marks provide the ability to validate the radiometric and geometric calibration on Mars. Pancam relies heavily on use of the JPL ICER wavelet compression algorithm to maximize data return within stringent mission downlink limits. The scientific goals of the Pancam investigation are to: (a) obtain monoscopic and stereoscopic image mosaics to assess the morphology, topography, and geologic context of each MER landing site; (b) obtain multispectral visible to short-wave near-IR images of selected regions to determine surface color and mineralogic properties; (c) obtain multispectral images over a range of viewing geometries to constrain surface photometric and physical properties; and (d) obtain images of the Martian sky, including direct images of the Sun, to determine dust and aerosol opacity and physical properties. In addition, Pancam also serves a variety of operational functions on the MER mission, including (e) serving as the primary Sun-finding camera for rover navigation; (f) resolving objects on the scale of the rover wheels to distances of ~100 m to help guide navigation decisions; (g) providing stereo coverage adequate for the generation of digital terrain models to help guide and refine rover traverse decisions; (h) providing high resolution images and other context information to guide the selection of the most interesting in situ sampling targets; and (i) supporting acquisition and release of exciting E/PO products.

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the second half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) is lifted up the outside of the launch tower. Visible on another side is the Delta II rocket that will carry the payload into space. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, the second half of the fairing for the Mars Exploration Rover 2 (MER-2/MER-A) is lifted up the outside of the launch tower. Visible on another side is the Delta II rocket that will carry the payload into space. The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. 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. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

Lunar Daylight Exploration

NASA Technical Reports Server (NTRS)

Griffin, Brand Norman

2010-01-01

With 1 rover, 2 astronauts and 3 days, the Apollo 17 Mission covered over 30 km, setup 10 scientific experiments and returned 110 kg of samples. This is a lot of science in a short time and the inspiration for a barebones, return-to-the-Moon strategy called Daylight Exploration. The Daylight Exploration approach poses an answer to the question, What could the Apollo crew have done with more time and today s robotics? In contrast to more ambitious and expensive strategies that create outposts then rely on pressurized rovers to drive to the science sites, Daylight Exploration is a low-overhead approach conceived to land near the scientific site, conduct Apollo-like exploration then leave before the sun goes down. A key motivation behind Daylight Exploration is cost reduction, but it does not come at the expense of scientific exploration. As a goal, Daylight Exploration provides access to the top 10 science sites by using the best capabilities of human and robotic exploration. Most science sites are within an equatorial band of 26 degrees latitude and on the Moon, at the equator, the day is 14 Earth days long; even more important, the lunar night is 14 days long. Human missions are constrained to 12 days because the energy storage systems required to operate during the lunar night adds mass, complexity and cost. In addition, short missions are beneficial because they require fewer consumables, do not require an airlock, reduce radiation exposure, minimize the dwell-time for the ascent and orbiting propulsion systems and allow a low-mass, campout accommodations. Key to Daylight Exploration is the use of piloted rovers used as tele-operated science platforms. Rovers are launched before or with the crew, and continue to operate between crew visits analyzing and collecting samples during the lunar daylight

KSC-03pd1234

NASA Image and Video Library

2003-04-24

KENNEDY SPACE CENTER, FLA. - Jim Lloyd, with the Mars Exploration Rover (MER) program, points to the place on MER-1 where he will place a computer chip with about 35,000 laser-engraved signatures of visitors to the rovers at the Jet Propulsion Laboratory. The signatures include those of senators, artists, and John Glenn. The identical Mars rovers are scheduled to launch June 5 and June 25 from Cape Canaveral Air Force Station.

KSC-03pd1233

NASA Image and Video Library

2003-04-24

KENNEDY SPACE CENTER, FLA. - This hand points to the place on the Mars Exploration Rover 1 where a computer chip with about 35,000 laser-engraved signatures of visitors to the Jet Propulsion Laboratory will be placed. The first rover already has one. The signatures include those of senators, artists, and John Glenn. The identical Mars rovers are scheduled to launch June 5 and June 25 from Cape Canaveral Air Force Station.

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 into the Ontario Science Center (OSC) to educate and fascinate people of all ages.

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.

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

NASA Technical Reports Server (NTRS)

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

2004-01-01

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 rehearse results, and reveiwing sciene and engineering imagery.

Rotations by Spirit Right-Front Wheel, Sol 2117

NASA Image and Video Library

2009-12-21

This frame taken from a three-frame animation aids evaluation of performance of the right-front wheel on NASA Mars Exploration Rover Spirit during a drive on the rover 2,117th Martian day, or sol Dec. 16, 2009.

Drive Direction Image by Opportunity After Surpassing 20 Miles

NASA Image and Video Library

2011-07-19

NASA Mars Exploration Rover Opportunity used its navigation camera to record this view in the eastward driving direction after completing a drive on July 17, 2011, that took the rover total driving distance on Mars beyond 20 miles.

West Rim of Endeavour Crater on Mars

NASA Image and Video Library

2011-08-10

A portion of the west rim of Endeavour crater sweeps southward in this color view from NASA Mars Exploration Rover Opportunity. The rover first destination on the rim, called Spirit Point in tribute to Opportunity now-inactive twin, Spirit.

Magnified Look at a Meteorite on Mars

NASA Image and Video Library

2009-08-06

NASA Mars Exploration Rover Opportunity used its microscopic imager to get this view of the surface of a rock called Block Island during the 1,963rd Martian day, or sol, of the rover mission on Mars Aug. 1, 2009.

Opportunity Arm and Gagarin Rock, Sol 405

NASA Image and Video Library

2011-04-08

NASA Mars Exploration Rover Opportunity used its rock abrasion tool on a rock informally named Gagarin, leaving a circular mark. At the end of the rover arm, the tool turret is positioned with the rock abrasion tool pointing upward.

Opportunity Surroundings After Sol 2363 Drive

NASA Image and Video Library

2010-09-29

This mosaic of images from the navigation camera on NASA Mars Exploration Rover Opportunity shows surroundings of the rover location following a drive on Sept. 16, 2010. The terrain includes light-toned bedrock and darker ripples of wind-blown sand.

Opportunity Beside a Small, Young Crater

NASA Image and Video Library

2011-06-02

NASA Mars Exploration Rover Opportunity captured this view of a wee crater, informally named Skylab, along the rover route. Based on the estimated age of the area sand ripples, the crater was likely formed within the past 100,000 years.

Skirting an Obstacle, Opportunity Sol 1867

NASA Image and Video Library

2009-07-15

This view from the navigation camera on NASA Mars Exploration Rover Opportunity shows tracks left by backing out of a wind-formed ripple after the rover wheels had started to dig too deeply into the dust and sand of the ripple.

Roll-Off Test at JPL

NASA Image and Video Library

2004-01-11

This still image illustrates what the Mars Exploration Rover Spirit will look like as it rolls off the northeastern side of the lander on Mars. The image was taken from footage of rover testing at JPL In-Situ Instruments Laboratory, or Testbed.

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.

Spirit Wiggles into Position

NASA Technical Reports Server (NTRS)

2005-01-01

NASA's Mars Exploration Rover Spirit completed a difficult, rocky ascent en route to reaching a captivating rock outcrop nicknamed 'Hillary' at the summit of 'Husband Hill.' At the end of the climb the robotic geologist was tilted almost 30 degrees. To get the rover on more solid footing for deploying the instrument arm, rover drivers told Spirit to wiggle its wheels one at a time. This animation shows Spirit's position before and after completing the wheel wiggle, during which the rover slid approximately 1 centimeter (0.4 inch) downhill. Rover drivers decided this position was too hazardous for deploying the instrument arm and subsequently directed Spirit to a more stable position before conducting analyses with instruments on the rover's arm.

Spirit took these images with its front hazard-avoidance camera on martian day, or sol, 625 (Oct. 6, 2005).

Windows to Meridiani's Water-Soaked Past

NASA Technical Reports Server (NTRS)

2004-01-01

This image taken by the Mars Exploration Rover Opportunity shows the two holes that allowed scientists to peer into Meridiani Planum's wet past. The rover drilled the holes into rocks in the region dubbed 'El Capitan' with its rock abrasion tool. By analyzing the freshly exposed rock with the rover's suite of scientific instruments, scientists gathered evidence that this part of Mars may have once been drenched in water. The lower hole, located on a target called 'McKittrick,' was made on the 30th martian day, or sol, of Opportunity's journey. The upper hole, located on a target called 'Guadalupe' was made on the 34th sol of the rover's mission. This image was taken on the 35th martian day, or sol, by the rover's hazard-avoidance camera. The rock abrasion tool and scientific instruments are located on the rover's robotic arm.

Ambler - An autonomous rover for planetary exploration

NASA Technical Reports Server (NTRS)

Bares, John; Hebert, Martial; Kanade, Takeo; Krotkov, Eric; Mitchell, Tom

1989-01-01

The authors are building a prototype legged rover, called the Ambler (loosely an acronym for autonomous mobile exploration robot) and testing it on full-scale, rugged terrain of the sort that might be encountered on the Martian surface. They present an overview of their research program, focusing on locomotion, perception, planning, and control. They summarize some of the most important goals and requirements of a rover design and describe how locomotion, perception, and planning systems can satisfy these requirements. Since the program is relatively young (one year old at the time of writing) they identify issues and approaches and describe work in progress rather than report results. It is expected that many of the technologies developed will be applicable to other planetary bodies and to terrestrial concerns such as hazardous waste assessment and remediation, ocean floor exploration, and mining.

A multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Klarer, P.

1994-03-01

The design of a multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER) is described. The control system design attempts to ameliorate some of the problems noted by some researchers when implementing subsumption or behavioral control systems, particularly with regard to multiple processor systems and real-time operations. The architecture is designed to allow both synchronous and asynchronous operations between various behavior modules by taking advantage of intertask communications channels, and by implementing each behavior module and each interconnection node as a stand-alone task. The potential advantages of this approach over those previously described in the fieldmore » are discussed. An implementation of the architecture is planned for a prototype Robotic All Terrain Lunar Exploration Rover (RATLER) currently under development, and is briefly described.« less

Dynamic Dust Accumulation and Dust Removal Observed on the Mars Exploration Rover Magnets

NASA Technical Reports Server (NTRS)

Bertelsen, P.; Bell, J. F., III; Goetz, W.; Gunnlaugsson, H. P.; Herkenhoff, K. E.; Hviid, S. F.; Johnson, J. R.; Kinch, K. M.; Knudsen, J. M.; Madsen, M. B.

2005-01-01

The Mars Exploration Rovers each carry a set of Magnetic Properties Experiments designed to investigate the properties of the airborne dust in the Martian atmosphere. It is a preferred interpretation of previous experiments that the airborne dust in the Martian atmosphere is primarily composed by composite silicate particles containing one or more highly magnetic minerals as a minor constituent. The ultimate goal of the magnetic properties experiments on the Mars Exploration Rover mission is to provide some information/ constraints on whether the dust is formed by volcanic, meteoritic, aqueous, or other processes. The first problem is to identify the magnetic mineral(s) in the airborne dust on Mars. While the overall results of the magnetic properties experiments are presented in, this abstract will focus on dust deposition and dust removal on some of the magnets.

Students, Teachers, and Scientists Partner to Explore Mars

NASA Astrophysics Data System (ADS)

Bowman, C. D.; Bebak, M.; Curtis, K.; Daniel, C.; Grigsby, B.; Herman, T.; Haynes, E.; Lineberger, D. H.; Pieruccini, S.; Ransom, S.; Reedy, K.; Spencer, C.; Steege, A.

2003-12-01

The Mars Exploration Rovers began their journey to the red planet in the summer of 2003 and, in early 2004, will begin an unprecedented level of scientific exploration on Mars, attracting the attention of scientists and the public worldwide. In an effort to engage students and teachers in this exciting endeavor, NASA's Mars Public Engagement Office, partnering with the Athena Science Investigation, coordinates a student-scientist research partnership program called the Athena Student Interns Program. The Athena Student Interns Program \\(ASIP\\) began in early 1999 as the LAPIS program, a pilot hands-on educational effort associated with the FIDO prototype Mars rover field tests \\(Arvidson, 2000\\). In ASIP, small groups of students and teachers selected through a national application process are paired with mentors from the mission's Athena Science Team to carry out an aspect of the mission. To prepare for actual operations during the landed rover mission, the students and teachers participate in one of the Science Team's Operational Readiness Tests \\(ORTs\\) at JPL using a prototype rover in a simulated Mars environment \\(Crisp, et al., in press. See also http://mars.jpl.nasa.gov/mer/fido/\\). Once the rovers have landed, each ASIP group will spend one week at JPL in mission operations, working as part of their mentor's own team to help manage and interpret data coming from Mars. To reach other teachers and students, each group gives school and community presentations, contributes to publications such as web articles and conference abstracts, and participates in NASA webcasts and webchats. Partnering with other groups and organizations, such as NASA's Solar System Ambassadors and the Housing and Urban Development Neighborhood Networks helps reach an even broader audience. ASIP is evaluated through the use of empowerment evaluation, a technique that actively involves participants in program assessment \\(Fetterman and Bowman, 2002\\). With the knowledge they gain through the ASIP program and their participation in the empowerment evaluation, ASIP members will help refine the current program and provide a model for student-scientist research partnerships associated with future space missions to Mars and beyond. Arvidson, R.E., et al. \\(2000\\) Students participate in Mars Sample Return Rover field tests. Eos, 81(11). Crisp, J.A., et al. \\(in press\\) The Mars Exploration Rover Mission. J. Geophys. Research-Planets. Fetterman, D. and C.D. Bowman. \\(2002\\) Experiential Education and Empowerment Evaluation: Mars Rover Educational Program Case Example. J. Experiential Education, 25(2).

True Colors Shining Through

NASA Technical Reports Server (NTRS)

2004-01-01

This image mosaic illustrates how scientists use the color calibration targets (upper left) located on both Mars Exploration Rovers to fine-tune the rovers' sense of color. In the center, spectra, or light signatures, acquired in the laboratory of the colored chips on the targets are shown as lines. Actual data from Mars Exploration Rover Spirit's panoramic camera is mapped on top of these lines as dots. The plot demonstrates that the observed colors of Mars match the colors of the chips, and thus approximate the red planet's true colors. This finding is further corroborated by the picture taken on Mars of the calibration target, which shows the colored chips as they would appear on Earth.

Opportunity's Travels During its First 205 Martian Days

NASA Technical Reports Server (NTRS)

2004-01-01

This map shows the traverse of NASA's Mars Exploration Rover Opportunity through the rover's 205th martian day, or sol (Aug. 21, 2004). The background image is from the rover's descent imaging camera. Images inset along the route are from Opportunity's navigation camera. Opportunity began its exploration inside 'Eagle' crater near the left edge of the map. Following completion of its study of the outcrop there, it traversed eastward to a small crater ('Fram' crater) before driving southeastward to the rim of 'Endurance' crater. After a survey partly around the south rim of Endurance crater, Opportunity drove inside the southwest rim of Endurance crater and began a systematic study of outcrops exposed on the crater's inner slope.

Spatial Coverage Planning for a Planetary Rover

NASA Technical Reports Server (NTRS)

Gaines, Daniel M.; Estlin, Tara; Chouinard, Caroline

2008-01-01

We are developing onboard planning and execution technologies to support the exploration and characterization of geological features by autonomous rovers. In order to generate high quality mission plans, an autonomous rover must reason about the relative importance of the observations it can perform. In this paper we look at the scientific criteria of selecting observations that improve the quality of the area covered by samples. Our approach makes use of a priori information, if available, and allows scientists to mark sub-regions of the area with relative priorities for exploration. We use an efficient algorithm for prioritizing observations based on spatial coverage that allows the system to update observation rankings as new information is gained during execution.

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.

'El Capitan's' Scientific Gems

NASA Technical Reports Server (NTRS)

2004-01-01

This mosaic of images taken by the panoramic camera onboard the Mars Exploration Rover Opportunity shows the rock region dubbed 'El Capitan,' which lies within the larger outcrop near the rover's landing site. 'El Capitan' is being studied in great detail using the scientific instruments on the rover's arm; images from the panoramic camera help scientists choose the locations for this compositional work. The millimeter-scale detail of the lamination covering these rocks can be seen. The face of the rock to the right of the mosaic may be a future target for grinding with the rover's rock abrasion tool.

Assessment of Proficiency During Simulated Rover Operations Following Long-Duration Spaceflight

NASA Technical Reports Server (NTRS)

Wood, S. J.; Dean, S. L.; De Dios, Y. E.; MacDougall, H. G.; Moore, S. T.

2011-01-01

Following long-duration space travel, pressurized rovers will enhance crew mobility to explore Mars and other planetary surfaces. Adaptive changes in sensorimotor function may limit the crew s proficiency when performing some rover operations shortly after transition to the new gravitoinertial environment. The primary goal of this investigation is to quantify postflight decrements in operational proficiency in a motion-based rover simulation after International Space Station (ISS) expeditions. Given that postflight performance will also be influenced by the level of preflight proficiency attained, a ground-based normative study was conducted to characterize the acquisition of skills over multiple sessions.

Choosing Mars-Time: Analysis of the Mars Exploration Rover Experience

NASA Technical Reports Server (NTRS)

Bass, Deborah S.; Wales,Roxana C.; Shalin, Valerie L.

2004-01-01

This paper focuses on the Mars Exploration Rover (MER) mission decision to work on Mars Time and the implications of that decision on the tactical surface operations process as personnel planned activities and created a new command load for work on each Martian sol. The paper also looks at tools that supported the complexities of Mars Time work, and makes some comparisons between Earth and Mars time scheduling.

An Astronaut Assistant Rover for Martian Surface Exploration

NASA Astrophysics Data System (ADS)

1999-01-01

Lunar exploration, recent field tests, and even on-orbit operations suggest the need for a robotic assistant for an astronaut during extravehicular activity (EVA) tasks. The focus of this paper is the design of a 300-kg, 2 cubic meter, semi-autonomous robotic rover to assist astronauts during Mars surface exploration. General uses of this rover include remote teleoperated control, local EVA astronaut control, and autonomous control. Rover size, speed, sample capacity, scientific payload and dexterous fidelity were based on known Martian environmental parameters,- established National Aeronautics and Space Administration (NASA) standards, the NASA Mars Exploration Reference Mission, and lessons learned from lunar and on-orbit sorties. An assumed protocol of a geological, two astronaut EVA performed during daylight hours with a maximum duration of tour hour dictated the following design requirements: (1) autonomously follow the EVA team over astronaut traversable Martian terrain for four hours; (2) retrieve, catalog, and carry 12 kg of samples; (3) carry tools and minimal in-field scientific equipment; (4) provide contingency life support; (5) compile and store a detailed map of surrounding terrain and estimate current position with respect to base camp; (6) provide supplemental communications systems; and (7) carry and support the use of a 7 degree - of- freedom dexterous manipulator.

Dust deposition on the Mars Exploration Rover Panoramic Camera (Pancam) calibration targets

USGS Publications Warehouse

Kinch, K.M.; Sohl-Dickstein, J.; Bell, J.F.; Johnson, J. R.; Goetz, W.; Landis, G.A.

2007-01-01

The Panoramic Camera (Pancam) on the Mars Exploration Rover mission has acquired in excess of 20,000 images of the Pancam calibration targets on the rovers. Analysis of this data set allows estimates of the rate of deposition and removal of aeolian dust on both rovers. During the first 150-170 sols there was gradual dust accumulation on the rovers but no evidence for dust removal. After that time there is ample evidence for both dust removal and dust deposition on both rover decks. We analyze data from early in both rover missions using a diffusive reflectance mixing model. Assuming a dust settling rate proportional to the atmospheric optical depth, we derive spectra of optically thick layers of airfall dust that are consistent with spectra from dusty regions on the Martian surface. Airfall dust reflectance at the Opportunity site appears greater than at the Spirit site, consistent with other observations. We estimate the optical depth of dust deposited on the Spirit calibration target by sol 150 to be 0.44 ?? 0.13. For Opportunity the value was 0.39 ?? 0.12. Assuming 80% pore space, we estimate that the dust layer grew at a rate of one grain diameter per ???100 sols on the Spirit calibration target. On Opportunity the rate was one grain diameter per ???125 sols. These numbers are consistent with dust deposition rates observed by Mars Pathfinder taking into account the lower atmospheric dust optical depth during the Mars Pathfinder mission. Copyright 2007 by the American Geophysical Union.

Rock with Odd Coating Beside a Young Martian Crater, False Color

NASA Image and Video Library

2010-03-24

This false color image from the panoramic camera on NASA Mars Exploration Rover Opportunity shows a rock called Chocolate Hills, which the rover found and examined at the edge of a young crater called Concepción.

Coating on Rock Beside a Young Martian Crater

NASA Image and Video Library

2010-03-24

This image from the microscopic imager on NASA Mars Exploration Rover Opportunity shows details of the coating on a rock called Chocolate Hills, which the rover found and examined at the edge of a young crater called Concepción.

First 3-D Panorama of Spirit Landing Site

NASA Image and Video Library

2004-01-05

This sprawling look at the martian landscape surrounding the Mars Exploration Rover Spirit is the first 3-D stereo image from the rover navigation camera. Sleepy Hollow can be seen to center left of the image. 3D glasses are necessary.

Streaks on Opportunity Solar Panel After Uphill Drive

NASA Image and Video Library

2016-03-31

This image from the navigation camera on the mast of NASA Mars Exploration Rover Opportunity shows streaks of dust or sand on the vehicle rear solar panel after a series of drives during which the rover was pointed steeply uphill.

Autonomous Hazard Checks Leave Patterned Rover Tracks on Mars Stereo

NASA Image and Video Library

2011-05-18

A dance-step pattern is visible in the wheel tracks near the left edge of this scene recorded by NASA Mars Exploration Rover Opportunity on Mars on April 1, 2011. 3D glasses are necessary to view this image.

Outcrop on Murray Ridge Section of Martian Crater Rim False Color

NASA Image and Video Library

2014-01-03

This false color image from NASA Mars Exploration Rover Opportunity is of the outcrop on the Murray Ridge portion of the rim of Endeavour Crater as the rover approached the 10th anniversary of its landing on Mars.

Opportunity at the Wall 3-D

NASA Image and Video Library

2004-11-23

NASA Mars Exploration Rover Opportunity reached the base of Burns Cliff, a portion of the inner wall of Endurance Crater in this anaglyph from the rover 285th martian day Nov. 11, 2004. 3D glasses are necessary to view this image.

Design and Manufacturing of Extremely Low Mass Flight Systems

NASA Technical Reports Server (NTRS)

Johnson, Michael R.

2002-01-01

Extremely small flight systems pose some unusual design and manufacturing challenges. The small size of the components that make up the system generally must be built with extremely tight tolerances to maintain the functionality of the assembled item. Additionally, the total mass of the system is extremely sensitive to what would be considered small perturbations in a larger flight system. The MUSES C mission, designed, built, and operated by Japan, has a small rover provided by NASA that falls into this small flight system category. This NASA-provided rover is used as a case study of an extremely small flight system design. The issues that were encountered with the rover portion of the MUSES C program are discussed and conclusions about the recommended mass margins at different stages of a small flight system project are presented.

Improvement in Visual Target Tracking for a Mobile Robot

NASA Technical Reports Server (NTRS)

Kim, Won; Ansar, Adnan; Madison, Richard

2006-01-01

In an improvement of the visual-target-tracking software used aboard a mobile robot (rover) of the type used to explore the Martian surface, an affine-matching algorithm has been replaced by a combination of a normalized- cross-correlation (NCC) algorithm and a template-image-magnification algorithm. Although neither NCC nor template-image magnification is new, the use of both of them to increase the degree of reliability with which features can be matched is new. In operation, a template image of a target is obtained from a previous rover position, then the magnification of the template image is based on the estimated change in the target distance from the previous rover position to the current rover position (see figure). For this purpose, the target distance at the previous rover position is determined by stereoscopy, while the target distance at the current rover position is calculated from an estimate of the current pose of the rover. The template image is then magnified by an amount corresponding to the estimated target distance to obtain a best template image to match with the image acquired at the current rover position.

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.

KSC-03pd0536

NASA Image and Video Library

2003-02-24

KENNEDY SPACE CENTER, FLA. -- The cruise stage, aeroshell and lander for the Mars Exploration Rover-1 mission and the MER-2 rover arrive at KSC. The same flight hardware for the MER-2 rover arrived Jan. 27; however, the MER-2 rover is scheduled to arrive at KSC in March. While at KSC, each of the two rovers, the aeroshells and the landers will undergo a full mission simulation. All of these flight elements will then be integrated together. 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 will be identical to each other, but will land at different regions of Mars. Launch of the MER-1 is scheduled for May 30. MER-2 will follow June 25.

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 transmitted to the ground, or to aid in image compression. We will discuss these and other algorithms and demonstrate their performance during a recent rover field test.

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-B, Cape Canaveral Air Force Station, the Delta II Heavy launch vehicle carrying the second Mars Exploration Rover, Opportunity, is poised for launch after rollback of the Mobile Service Tower. 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.

NASA Image and Video Library

2003-07-07

KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-B, Cape Canaveral Air Force Station, the Delta II Heavy launch vehicle carrying the second Mars Exploration Rover, Opportunity, is poised for launch after rollback of the Mobile Service Tower. 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.