Robotic vehicles for planetary exploration

NASA Technical Reports Server (NTRS)

Wilcox, Brian; Matthies, Larry; Gennery, Donald; Cooper, Brian; Nguyen, Tam; Litwin, Todd; Mishkin, Andrew; Stone, Henry

1992-01-01

A program to develop planetary rover technology is underway at the Jet Propulsion Laboratory (JPL) under sponsorship of the National Aeronautics and Space Administration. Developmental systems with the necessary sensing, computing, power, and mobility resources to demonstrate realistic forms of control for various missions have been developed, and initial testing has been completed. These testbed systems and the associated navigation techniques used are described. Particular emphasis is placed on three technologies: Computer-Aided Remote Driving (CARD), Semiautonomous Navigation (SAN), and behavior control. It is concluded that, through the development and evaluation of such technologies, research at JPL has expanded the set of viable planetary rover mission possibilities beyond the limits of remotely teleoperated systems such as Lunakhod. These are potentially applicable to exploration of all the solid planetary surfaces in the solar system, including Mars, Venus, and the moons of the gas giant planets.

State Identification for Planetary Rovers: Learning and Recognition

NASA Technical Reports Server (NTRS)

Aycard, Olivier; Washington, Richard

1999-01-01

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

a Performance Comparison of Feature Detectors for Planetary Rover Mapping and Localization

NASA Astrophysics Data System (ADS)

Wan, W.; Peng, M.; Xing, Y.; Wang, Y.; Liu, Z.; Di, K.; Teng, B.; Mao, X.; Zhao, Q.; Xin, X.; Jia, M.

2017-07-01

Feature detection and matching are key techniques in computer vision and robotics, and have been successfully implemented in many fields. So far there is no performance comparison of feature detectors and matching methods for planetary mapping and rover localization using rover stereo images. In this research, we present a comprehensive evaluation and comparison of six feature detectors, including Moravec, Förstner, Harris, FAST, SIFT and SURF, aiming for optimal implementation of feature-based matching in planetary surface environment. To facilitate quantitative analysis, a series of evaluation criteria, including distribution evenness of matched points, coverage of detected points, and feature matching accuracy, are developed in the research. In order to perform exhaustive evaluation, stereo images, simulated under different baseline, pitch angle, and interval of adjacent rover locations, are taken as experimental data source. The comparison results show that SIFT offers the best overall performance, especially it is less sensitive to changes of image taken at adjacent locations.

Small image laser range finder for planetary rover

NASA Technical Reports Server (NTRS)

Wakabayashi, Yasufumi; Honda, Masahisa; Adachi, Tadashi; Iijima, Takahiko

1994-01-01

A variety of technical subjects need to be solved before planetary rover navigation could be a part of future missions. The sensors which will perceive terrain environment around the rover will require critical development efforts. The image laser range finder (ILRF) discussed here is one of the candidate sensors because of its advantage in providing range data required for its navigation. The authors developed a new compact-sized ILRF which is a quarter of the size of conventional ones. Instead of the current two directional scanning system which is comprised of nodding and polygon mirrors, the new ILRF is equipped with the new concept of a direct polygon mirror driving system, which successfully made its size compact to accommodate the design requirements. The paper reports on the design concept and preliminary technical specifications established in the current development phase.

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.

Automation and Robotics for space operation and planetary exploration

NASA Technical Reports Server (NTRS)

Montemerlo, Melvin D.

1990-01-01

This paper presents a perspective of Automation and Robotics (A&R) research and developments at NASA in terms of its history, its current status, and its future. It covers artificial intelligence, telerobotics and planetary rovers, and it encompasses ground operations, operations in earth orbit, and planetary exploration.

Towards terrain interaction prediction for bioinspired planetary exploration rovers.

PubMed

Yeomans, Brian; Saaj, Chakravathini M

2014-03-01

Deployment of a small legged vehicle to extend the reach of future planetary exploration missions is an attractive possibility but little is known about the behaviour of a walking rover on deformable planetary terrain. This paper applies ideas from the developing study of granular materials together with a detailed characterization of the sinkage process to propose and validate a combined model of terrain interaction based on an understanding of the physics and micro mechanics at the granular level. Whilst the model reflects the complexity of interactions expected from a walking rover, common themes emerge which enable the model to be streamlined to the extent that a simple mathematical representation is possible without resorting to numerical methods. Bespoke testing and analysis tools are described which reveal some unexpected conclusions and point the way towards intelligent control and foot geometry techniques to improve thrust generation.

Cerebellum Augmented Rover Development

NASA Technical Reports Server (NTRS)

King, Matthew

2005-01-01

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

Integrated Navigation System Design for Micro Planetary Rovers: Comparison of Absolute Heading Estimation Algorithms and Nonlinear Filtering

PubMed Central

Ilyas, Muhammad; Hong, Beomjin; Cho, Kuk; Baeg, Seung-Ho; Park, Sangdeok

2016-01-01

This paper provides algorithms to fuse relative and absolute microelectromechanical systems (MEMS) navigation sensors, suitable for micro planetary rovers, to provide a more accurate estimation of navigation information, specifically, attitude and position. Planetary rovers have extremely slow speed (~1 cm/s) and lack conventional navigation sensors/systems, hence the general methods of terrestrial navigation may not be applicable to these applications. While relative attitude and position can be tracked in a way similar to those for ground robots, absolute navigation information is hard to achieve on a remote celestial body, like Moon or Mars, in contrast to terrestrial applications. In this study, two absolute attitude estimation algorithms were developed and compared for accuracy and robustness. The estimated absolute attitude was fused with the relative attitude sensors in a framework of nonlinear filters. The nonlinear Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) were compared in pursuit of better accuracy and reliability in this nonlinear estimation problem, using only on-board low cost MEMS sensors. Experimental results confirmed the viability of the proposed algorithms and the sensor suite, for low cost and low weight micro planetary rovers. It is demonstrated that integrating the relative and absolute navigation MEMS sensors reduces the navigation errors to the desired level. PMID:27223293

Integrated Navigation System Design for Micro Planetary Rovers: Comparison of Absolute Heading Estimation Algorithms and Nonlinear Filtering.

PubMed

Ilyas, Muhammad; Hong, Beomjin; Cho, Kuk; Baeg, Seung-Ho; Park, Sangdeok

2016-05-23

This paper provides algorithms to fuse relative and absolute microelectromechanical systems (MEMS) navigation sensors, suitable for micro planetary rovers, to provide a more accurate estimation of navigation information, specifically, attitude and position. Planetary rovers have extremely slow speed (~1 cm/s) and lack conventional navigation sensors/systems, hence the general methods of terrestrial navigation may not be applicable to these applications. While relative attitude and position can be tracked in a way similar to those for ground robots, absolute navigation information is hard to achieve on a remote celestial body, like Moon or Mars, in contrast to terrestrial applications. In this study, two absolute attitude estimation algorithms were developed and compared for accuracy and robustness. The estimated absolute attitude was fused with the relative attitude sensors in a framework of nonlinear filters. The nonlinear Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) were compared in pursuit of better accuracy and reliability in this nonlinear estimation problem, using only on-board low cost MEMS sensors. Experimental results confirmed the viability of the proposed algorithms and the sensor suite, for low cost and low weight micro planetary rovers. It is demonstrated that integrating the relative and absolute navigation MEMS sensors reduces the navigation errors to the desired level.

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.

An Architecture for Autonomous Rovers on Future Planetary Missions

NASA Astrophysics Data System (ADS)

Ocon, J.; Avilés, M.; Graziano, M.

2018-04-01

This paper proposes an architecture for autonomous planetary rovers. This architecture combines a set of characteristics required in this type of system: high level of abstraction, reactive event-based activity execution, and automous navigation.

Mars pathfinder Rover egress deployable ramp assembly

NASA Technical Reports Server (NTRS)

Spence, Brian R.; Sword, Lee F.

1996-01-01

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

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.

Proposing an International Collaboration on Lightweight Autonomous Vehicles to Conduct Scientific Traverses and Surveys over Antarctica and the Surrounding Sea Ice

NASA Technical Reports Server (NTRS)

Carsey, Frank; Behar, Alberto

2004-01-01

We have continued to develop a concept for use of autonomous rovers, originally developed for use in planetary exploration, in polar science on Earth; the concept was the subject of a workshop, and this report summarizes and extends that workshop. The workshop on Antarctic Autonomous Scientific Vehicles and Traverses met at the National Geographic Society on February 14 and 15, 2001 to discuss scientific objectives and benefits of the use of autonomous rovers. The participants enthusiastically viewed rovers as being uniquely valuable for such tasks as data taking on tedious or repetitive routes, traverses in polar night, difficult or hazardous routes, extremely remote regions, routes requiring only simple instrumentation, traverses that must be conducted at low speed, augments of manned traverses, and scientific procedures not compatible with human presence or combustion engines. The workshop has concluded that instrumented autonomous vehicles, of the type being developed for planetary exploration, have the potential to contribute significantly to the way science in conducted in Antarctica while also aiding planetary technology development, and engaging the public's interest. Specific objectives can be supported in understanding ice sheet mass balance, sea ice heat and momentum exchange, and surface air chemistry processes. In the interval since the workshop, we have concluded that organized program to employ such rovers to perform scientific tasks in the Fourth International Polar Year would serve the objectives of that program well.

Crewbot Suspension Design

NASA Technical Reports Server (NTRS)

Wood, Nathan A.

2005-01-01

Planetary Surface Robot Work Crews (RWC) represent a new class of construction robots for future deployment in planetary exploration. Rovers currently being used for the RWC platform lack the load carrying capabilities required in regular work. Two new rovers, dubbed CrewBots, being designed in JPL's Planetary Robotics Lab specifically for RWC applications greatly increase the load carrying capabilities of the platform. A major component of the rover design was the design of the rocker type suspension, which increases rover mobility. The design of the suspension for the Crewbots departed from the design of recent rovers. While many previous rovers have used internal bevel gear differentials, the increased load requirements of the Crewbots calls for a more robust system. The solution presented is the use of an external modified three-bar, slider-linkage, rocker-style suspension that increases the moment arm of the differential. The final product is a suspension system capable of supporting the extreme loading cases the RWC platform presents, without consuming a large portion of the Crewbots' internal space.

Decision-Theoretic Control of Planetary Rovers

NASA Technical Reports Server (NTRS)

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

2003-01-01

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

Development and testing of laser-induced breakdown spectroscopy for the Mars Rover Program : elemental analysis at stand-off distances

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

Cremers, D. A.; Wiens, R. C.; Arp, Z. A.

2003-01-01

One of the most Fundamental pieces of information about any planetary body is the elemental cornposition of its surface materials. The Viking Martian landers employed XRF (x-ray fluorescence) and the MER rovers are carrying APXS (alpha-proton x-ray spectrometer) instruments upgraded from that used on the Pathfinder rover to supply elemental composition information for soils and rocks for which direct contact is possible. These in-situ analyses require that the lander or rover be in contact with the sample

Developing Science Operations Concepts for the Future of Planetary Surface Exploration

NASA Technical Reports Server (NTRS)

Young, K. E.; Bleacher, J. E.; Rogers, A. D.; McAdam, A.; Evans, C. A.; Graff, T. G.; Garry, W. B.; Whelley,; Scheidt, S.; Carter, L.;

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

NASA Astrophysics Data System (ADS)

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

2017-04-01

High resolution Digital Terrain Models (DTM) and Digital Outcrop Models (DOM) are highly useful for geological analysis and mission planning in planetary rover missions. PRo3D, developed as part of the EU-FP7 PRoViDE project, is a 3D viewer in which orbital DTMs and DOMs derived from rover stereo imagery can be rendered in a virtual environment for exploration and analysis. It allows fluent navigation over planetary surface models and provides a variety of measurement and annotation tools to complete an extensive geological interpretation. A key aspect of the image collection during planetary rover missions is determining the optimal viewing positions of rover instruments from different positions ('wide baseline stereo'). For the collection of high quality panoramas and stereo imagery the visibility of regions of interest from those positions, and the amount of common features shared by each stereo-pair, or image bundle is crucial. The creation of a highly accurate and reliable 3D surface, in the form of an Ordered Point Cloud (OPC), of the planetary surface, with a low rate of error and a minimum of artefacts, is greatly enhanced by using images that share a high amount of features and a sufficient overlap for wide baseline stereo or target selection. To support users in the selection of adequate viewpoints an interactive View Planner was integrated into PRo3D. The users choose from a set of different rovers and their respective instruments. PRo3D supports for instance the PanCam instrument of ESA's ExoMars 2020 rover mission or the Mastcam-Z camera of NASA's Mars2020 mission. The View Planner uses a DTM obtained from orbiter imagery, which can also be complemented with rover-derived DOMs as the mission progresses. The selected rover is placed onto a position on the terrain - interactively or using the current rover pose as known from the mission. The rover's base polygon and its local coordinate axes, and the chosen instrument's up- and forward vectors are visualised. The parameters of the instrument's pan and tilt unit (PTU) can be altered via the user interface, or alternatively calculated by selecting a target point on the visualised DTM. In the 3D view, the visible region of the planetary surface, resulting from these settings and the camera field-of-view is visualised by a highlighted region with a red border, representing the instruments footprint. The camera view is simulated and rendered in a separate window and PTU parameters can be interactively adjusted, allowing viewpoints, directions, and the expected image to be visualised in real-time in order to allow users the fine-tuning of these settings. In this way, ideal viewpoints and PTU settings for various rover models and instruments can efficiently be defined, resulting in an optimum imagery of the regions of interest.

Fast Optical Hazard Detection for Planetary Rovers Using Multiple Spot Laser Triangulation

NASA Technical Reports Server (NTRS)

Matthies, L.; Balch, T.; Wilcox, B.

1997-01-01

A new laser-based optical sensor system that provides hazard detection for planetary rovers is presented. It is anticipated that the sensor can support safe travel at speeds up to 6cm/second for large (1m) rovers in full sunlight on Earth or Mars. The system overcomes limitations in an older design that require image differencing ot detect a laser stripe in full sun.

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.

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.

A Rover Operations Protocol for Maintaining Compliance with Planetary Protection Requirements

NASA Astrophysics Data System (ADS)

Jones, Melissa; Vasavada, Ashwin

2016-07-01

The Mars Science Laboratory (MSL) mission, with its Curiosity rover, arrived at Gale Crater in August 2012 with the scientific objective of assessing the past and present habitability of the landing site area. It is not a life detection mission, but one that uses geological, geochemical, and environmental measurements to understand whether past and present conditions could have supported life. The MSL mission is designated Planetary Protection Category IVa, with specific restrictions on the landing site and surface operations. In particular, the mission is prohibited from introducing any hardware into a Mars Special Region, as defined by COSPAR policy and in NASA document NPR 8020.12D. Fluid-formed features such as recurring slope lineae are included in this prohibition. Finally, any evidence suggesting the presence of Special Regions or flowing liquid at the actual MSL landing site shall be communicated to the NASA Planetary Protection Officer immediately, and physical contact by the rover with such features shall be entirely avoided. The MSL Project has recently developed and instituted a protocol in daily rover operations to ensure ongoing compliance with its planetary protection categorization. A particular challenge comes from the fact that the characteristics of potential Special Regions may not be obvious in the rover downlink data (e.g., landscape images, chemical measurements, or meteorology), or easily distinguishable from characteristics of other processes that do not imply Special Regions. For this reason, the first step in the process would be for the lead scientist for that day of operations (a role that rotates through senior scientists on the mission) to scrutinize all the targets that may receive interaction by rover hardware, such as targets for arm contact, or paths for wheel contact. Based on the expertise of the lead scientist, and definitions of Mars Special Regions, if any features of concern are identified, the other scientists on duty that day would be brought into a discussion. Typically the tactical team has a mix of experts in geology, astrobiology, geological materials, geochemistry, and meteorology. If this team cannot rule out the concern of introducing rover hardware into a potential Special Region, arm and wheel usage would be prohibited in that day's planning. This halt in tactical operations would allow a separate Special Regions Team to re-consider the data more deliberately, but still on timeline that would allow rover operations to resume as quickly as possible. This team is chosen in advance to have a broad range of expertise that can weigh the evidence for a potential Special Region, including representatives from the institutional planetary protection organization and involvement of the MSL Project Manager. If this team cannot rule out the concern, rover operations continue to hold while the NASA Planetary Protection Office is engaged to determine the best course of action for the mission. It is worth noting that evidence of modern, fluid-formed features at Gale Crater is not expected and would represent a major scientific discovery for the mission and Mars Exploration Program. However, this low-likelihood outcome still requires vigilance to ensure compliance with planetary protection requirements.

A Battery Health Monitoring Framework for Planetary Rovers

NASA Technical Reports Server (NTRS)

Daigle, Matthew J.; Kulkarni, Chetan Shrikant

2014-01-01

Batteries have seen an increased use in electric ground and air vehicles for commercial, military, and space applications as the primary energy source. An important aspect of using batteries in such contexts is battery health monitoring. Batteries must be carefully monitored such that the battery health can be determined, and end of discharge and end of usable life events may be accurately predicted. For planetary rovers, battery health estimation and prediction is critical to mission planning and decision-making. We develop a model-based approach utilizing computaitonally efficient and accurate electrochemistry models of batteries. An unscented Kalman filter yields state estimates, which are then used to predict the future behavior of the batteries and, specifically, end of discharge. The prediction algorithm accounts for possible future power demands on the rover batteries in order to provide meaningful results and an accurate representation of prediction uncertainty. The framework is demonstrated on a set of lithium-ion batteries powering a rover at NASA.

Mission Implementation Constraints on Planetary Muon Radiography

NASA Technical Reports Server (NTRS)

Jones, Cathleen E.; Kedar, Sharon; Naudet, Charles; Webb, Frank

2011-01-01

Cost: Use heritage hardware, especially use a tested landing system to reduce cost (Phoenix or MSL EDL stage). The sky crane technology delivers higher mass to the surface and enables reaching targets at higher elevation, but at a higher mission cost. Rover vs. Stationary Lander: Rover-mounted instrument enables tomography, but the increased weight of the rover reduces the allowable payload weight. Mass is the critical design constraint for an instrument for a planetary mission. Many factors that are minor factors or do not enter into design considerations for terrestrial operation are important for a planetary application. (Landing site, diurnal temperature variation, instrument portability, shock/vibration)

Planetary micro-rover operations on Mars using a Bayesian framework for inference and control

NASA Astrophysics Data System (ADS)

Post, Mark A.; Li, Junquan; Quine, Brendan M.

2016-03-01

With the recent progress toward the application of commercially-available hardware to small-scale space missions, it is now becoming feasible for groups of small, efficient robots based on low-power embedded hardware to perform simple tasks on other planets in the place of large-scale, heavy and expensive robots. In this paper, we describe design and programming of the Beaver micro-rover developed for Northern Light, a Canadian initiative to send a small lander and rover to Mars to study the Martian surface and subsurface. For a small, hardware-limited rover to handle an uncertain and mostly unknown environment without constant management by human operators, we use a Bayesian network of discrete random variables as an abstraction of expert knowledge about the rover and its environment, and inference operations for control. A framework for efficient construction and inference into a Bayesian network using only the C language and fixed-point mathematics on embedded hardware has been developed for the Beaver to make intelligent decisions with minimal sensor data. We study the performance of the Beaver as it probabilistically maps a simple outdoor environment with sensor models that include uncertainty. Results indicate that the Beaver and other small and simple robotic platforms can make use of a Bayesian network to make intelligent decisions in uncertain planetary environments.

Autonomous Trans-Antartic expeditions: an initiative for advancing planetary mobility system technology while addressing Earth science objectives in Antartica

NASA Technical Reports Server (NTRS)

Carsey, F.; Schenker, P.; Blamont, J.

2001-01-01

A workshop on Antartic Autonomous Scientific Vehicles and Traverses met at the National Geographic Society in February to discuss scientific objectives and benefits of the use of rovers such as are being developed for use in planetary exploration.

In-situ soil sensing for planetary micro-rovers with hybrid wheel-leg systems

NASA Astrophysics Data System (ADS)

Comin Cabrera, Francisco Jose

Rover missions exploring other planets are tightly constrained regarding the trade-off between safety and traversal speed. Detecting and avoiding hazards during navigation is capital to preserve the mobility of a rover. Low traversal speeds are often enforced to assure that wheeled rovers do not become stuck in challenging terrain, hindering the performance and scientific return of the mission. Even such precautions do not guarantee safe navigation due to non-geometric hazards hidden in the terrain, such as sand traps beneath thin duricrusts. These issues motivate the research of the interaction with rough and sandy planetary terrains of conventional and innovative robot locomotion concepts. Hybrid wheel-legs combine the mechanical and control simplicity of wheeled locomotion with the enhanced mobility of legged locomotion. This concept has been rarely proposed for planetary exploration and the study of its interaction with granular terrains is at a very early stage. This research focuses on advancing the state-of-the-art of wheel-leg-soil interaction analysis and applying it through in-situ sensing to simultaneously improve the speed and safety of planetary rover missions. The semi-empirical approach used combines both theoretical modelling and experimental analysis of data obtained in laboratory and field analogues. A novel light-weight, low-power sensor system, capable of reliably detecting wheel-leg sinkage and slippage phenomena on-the-fly, is designed, implemented and tested both as part of a simplified single-wheel-leg test bed and integrated in a fully mobile micro-rover. Moreover, existing analytical models for the interaction between deformable terrain and heavily-loaded wheels or lightly-loaded legs are adapted to the generalised medium-loaded multi-legged wheel-leg case and combined into hybrid approaches for better accuracy, as validated against experimental data. Finally, the soil sensor system and analytical models proposed are used to develop and prove the effectiveness of different solutions for soil characterisation, trafficability assessment and terrain classification based on non-geometric physical properties.

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.

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.

Mars Rover Model Celebration: Developing Inquiry Based Lesson Plans to Teach Planetary Science In Elementary And Middle School

NASA Astrophysics Data System (ADS)

Bering, E. A.; Slagle, E.; Nieser, K.; Carlson, C.; Kapral, A.; Dominey, W.; Ramsey, J.; Konstantinidis, I.; James, J.; Sweaney, S.; Mendez, R.

2012-12-01

The recent NASA Mars Rover missions capture the imagination of children, as NASA missions have done for decades. The University of Houston is in the process of developing a prototype of a flexible program that offers children an in-depth educational experience culminating in the design and construction of their own model rover. The existing prototype program is called the Mars Rover Model Celebration. It focuses on students, teachers and parents in grades 3-8. Students will design and build a model of a Mars rover to carry out a student selected science mission on the surface of Mars. The model will be a mock-up, constructed at a minimal cost from art supplies. The students will build the models as part of a project on Mars. The students will be given design criteria for a rover and will do basic research on Mars that will determine the objectives and features of their rover. This project may be used either informally as an after school club or youth group activity or formally as part of a class studying general science, earth science, solar system astronomy or robotics, or as a multi-disciplinary unit for a gifted and talented program. The project's unique strength lies in engaging students in the process of spacecraft design and interesting them in aerospace engineering careers. The project is aimed at elementary and secondary education. Not only will these students learn about scientific fields relevant to the mission (space science, physics, geology, robotics, and more), they will gain an appreciation for how this knowledge is used to tackle complex problems. The low cost of the event makes it an ideal enrichment vehicle for low income schools. It provides activities that provide professional development to educators, curricular support resources using NASA Science Mission Directorate (SMD) content, and provides family opportunities for involvement in K-12 student learning. This paper will describe the development of a detailed set of new 5E lesson plans to support this project as a classroom activity. The challenge of developing interactive learning activities for planetary science will be explored. These lesson plans incorporate state of the art interactive pedagogy and current NASA Planetary Science materials.

Technological innovations for human outposts on planetary bodies

NASA Technical Reports Server (NTRS)

Clark, Benton C.

1988-01-01

Technology developments which have applications for establishing man-tended outposts on the moon and Mars are reviewed. The development of pressurized rovers and computer-aided control, repair, and manufacturing is discussed. The possibility of utilizing aerodynamic drag by optimizing dynamic pressure to accomplish the necessary spacecraft velocity reduction for planetary orbital capture is considered and research in the development of artificial gravity is examined.

Continued Development of in Situ Geochronology for Planetary Using KArLE (Potassium-Argon Laser Experiment)

NASA Technical Reports Server (NTRS)

Devismes, D.; Cohen, B. A.

2016-01-01

Geochronology is a fundamental measurement for planetary samples, providing the ability to establish an absolute chronology for geological events, including crystallization history, magmatic evolution, and alteration events, and providing global and solar system context for such events. The capability for in situ geochronology will open up the ability for geochronology to be accomplished as part of lander or rover complement, on multiple samples rather than just those returned. An in situ geochronology package can also complement sample return missions by identifying the most interesting rocks to cache or return to Earth. The K-Ar radiometric dating approach to in situ dating has been validated by the Curiosity rover on Mars as well as several laboratories on Earth. Several independent projects developing in situ rock dating for planetary samples, based on the K-Ar method, are giving promising results. Among them, the Potassium (K)-Argon Laser Experiment (KArLE) at MSFC is based on techniques already in use for in planetary exploration, specifically, Laser-induced Breakdown Spectroscopy (LIBS, used on the Curiosity Chemcam), mass spectroscopy (used on multiple planetary missions, including Curiosity, ExoMars, and Rosetta), and optical imaging (used on most missions).

A six-legged rover for planetary exploration

NASA Technical Reports Server (NTRS)

Simmons, Reid; Krotkov, Eric; Bares, John

1991-01-01

To survive the rigors and isolation of planetary exploration, an autonomous rover must be competent, reliable, and efficient. This paper presents the Ambler, a six-legged robot featuring orthogonal legs and a novel circulating gait, which has been designed for traversal of rugged, unknown environments. An autonomous software system that integrates perception, planning, and real-time control has been developed to walk the Ambler through obstacle strewn terrain. The paper describes the information and control flow of the walking system, and how the design of the mechanism and software combine to achieve competent walking, reliable behavior in the face of unexpected failures, and efficient utilization of time and power.

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.

A Comparison of Two Path Planners for Planetary Rovers

NASA Technical Reports Server (NTRS)

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

1999-01-01

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

Autonomous navigation and mobility for a planetary rover

NASA Technical Reports Server (NTRS)

Miller, David P.; Mishkin, Andrew H.; Lambert, Kenneth E.; Bickler, Donald; Bernard, Douglas E.

1989-01-01

This paper presents an overview of the onboard subsystems that will be used in guiding a planetary rover. Particular emphasis is placed on the planning and sensing systems and their associated costs, particularly in computation. Issues that will be used in evaluating trades between the navigation system and mobility system are also presented.

The real-time control of planetary rovers through behavior modification

NASA Technical Reports Server (NTRS)

Miller, David P.

1991-01-01

It is not yet clear of what type, and how much, intelligence is needed for a planetary rover to function semi-autonomously on a planetary surface. Current designs assume an advanced AI system that maintains a detailed map of its journeys and the surroundings, and that carefully calculates and tests every move in advance. To achieve these abilities, and because of the limitations of space-qualified electronics, the supporting rover is quite sizable, massing a large fraction of a ton, and requiring technology advances in everything from power to ground operations. An alternative approach is to use a behavior driven control scheme. Recent research has shown that many complex tasks may be achieved by programming a robot with a set of behaviors and activation or deactivating a subset of those behaviors as required by the specific situation in which the robot finds itself. Behavior control requires much less computation than is required by tradition AI planning techniques. The reduced computation requirements allows the entire rover to be scaled down as appropriate (only down-link communications and payload do not scale under these circumstances). The missions that can be handled by the real-time control and operation of a set of small, semi-autonomous, interacting, behavior-controlled planetary rovers are discussed.

Roving Vehicles for Lunar and Planetary Exploration

NASA Technical Reports Server (NTRS)

2004-01-01

This special bibliography includes the design, development, and application of lunar and Mars rovers; vehicle instrumentation and power supplies; navigation and control technologies; and site selection.

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.

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.

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.

Reconfigurable Autonomy for Future Planetary Rovers

NASA Astrophysics Data System (ADS)

Burroughes, Guy

Extra-terrestrial Planetary rover systems are uniquely remote, placing constraints in regard to communication, environmental uncertainty, and limited physical resources, and requiring a high level of fault tolerance and resistance to hardware degradation. This thesis presents a novel self-reconfiguring autonomous software architecture designed to meet the needs of extraterrestrial planetary environments. At runtime it can safely reconfigure low-level control systems, high-level decisional autonomy systems, and managed software architecture. The architecture can perform automatic Verification and Validation of self-reconfiguration at run-time, and enables a system to be self-optimising, self-protecting, and self-healing. A novel self-monitoring system, which is non-invasive, efficient, tunable, and autonomously deploying, is also presented. The architecture was validated through the use-case of a highly autonomous extra-terrestrial planetary exploration rover. Three major forms of reconfiguration were demonstrated and tested: first, high level adjustment of system internal architecture and goal; second, software module modification; and third, low level alteration of hardware control in response to degradation of hardware and environmental change. The architecture was demonstrated to be robust and effective in a Mars sample return mission use-case testing the operational aspects of a novel, reconfigurable guidance, navigation, and control system for a planetary rover, all operating in concert through a scenario that required reconfiguration of all elements of the system.

Dynamic modeling of wheeled planetary rovers: A model based on the pseudo-coordiates approach

NASA Astrophysics Data System (ADS)

Chen, Feng; Genta, Giancarlo

2012-12-01

The paper deals with the dynamic modeling of wheeled planetary rovers operating on rough terrain. The dedicated model here presented, although kept as simple as possible, includes the effect of nonlinearities and models the suspensions in a realistic, albeit simplified, way. It can be interfaced with a model of the control system so that different control strategies can be studied in detail and, in case of teleoperated rovers, it can be used as a simulator for training the operators. Different implementations, with different degrees of complexity, are presented and compared with each other so that the user can simulate the dynamics of the rover making a tradeoff between simulation accuracy and computer time. The model allows to study the effects of the terrain characteristics, of the ground irregularities and the operating speed on the behavior of the rover. Some examples dealing with rovers with different configurations conclude the paper.

Long Range Navigation for Mars Rovers Using Sensor-Based Path Planning and Visual Localisation

NASA Technical Reports Server (NTRS)

Laubach, Sharon L.; Olson, Clark F.; Burdick, Joel W.; Hayati, Samad

1999-01-01

The Mars Pathfinder mission illustrated the benefits of including a mobile robotic explorer on a planetary mission. However, for future Mars rover missions, significantly increased autonomy in navigation is required in order to meet demanding mission criteria. To address these requirements, we have developed new path planning and localisation capabilities that allow a rover to navigate robustly to a distant landmark. These algorithms have been implemented on the JPL Rocky 7 prototype microrover and have been tested extensively in the JPL MarsYard, as well as in natural terrain.

Field Experiments using Telepresence and Virtual Reality to Control Remote Vehicles: Application to Mars Rover Missions

NASA Technical Reports Server (NTRS)

Stoker, Carol

1994-01-01

This paper will describe a series of field experiments to develop and demonstrate file use of Telepresence and Virtual Reality systems for controlling rover vehicles on planetary surfaces. In 1993, NASA Ames deployed a Telepresence-Controlled Remotely Operated underwater Vehicle (TROV) into an ice-covered sea environment in Antarctica. The goal of the mission was to perform scientific exploration of an unknown environment using a remote vehicle with telepresence and virtual reality as a user interface. The vehicle was operated both locally, from above a dive hole in the ice through which it was launched, and remotely over a satellite communications link from a control room at NASA's Ames Research center, for over two months. Remote control used a bidirectional Internet link to the vehicle control computer. The operator viewed live stereo video from the TROV along with a computer-gene rated graphic representation of the underwater terrain showing file vehicle state and other related information. Tile actual vehicle could be driven either from within the virtual environment or through a telepresence interface. In March 1994, a second field experiment was performed in which [lie remote control system developed for the Antarctic TROV mission was used to control the Russian Marsokhod Rover, an advanced planetary surface rover intended for launch in 1998. Marsokhod consists of a 6-wheel chassis and is capable of traversing several kilometers of terrain each day, The rover can be controlled remotely, but is also capable of performing autonomous traverses. The rover was outfitted with a manipulator arm capable of deploying a small instrument, collecting soil samples, etc. The Marsokhod rover was deployed at Amboy Crater in the Mojave desert, a Mars analog site, and controlled remotely from Los Angeles. in two operating modes: (1) a Mars rover mission simulation with long time delay and (2) a Lunar rover mission simulation with live action video. A team of planetary geologists participated in the mission simulation. The scientific goal of the science mission was to determine what could be learned about the geologic context of the site using the capabilities of imaging and mobility provided by the Marsokhod system in these two modes of operation. I will discuss the lessons learned from these experiments in terms of the strategy for performing Mars surface exploration using rovers. This research is supported by the Solar System Exploration Exobiology, Geology, and Advanced Technology programs.

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.

A Lab-on-Chip Design for Miniature Autonomous Bio-Chemoprospecting Planetary Rovers

NASA Astrophysics Data System (ADS)

Santoli, S.

The performance of the so-called ` Lab-on-Chip ' devices, featuring micrometre size components and employed at present for carrying out in a very fast and economic way the extremely high number of sequence determinations required in genomic analyses, can be largely improved as to further size reduction, decrease of power consumption and reaction efficiency through development of nanofluidics and of nano-to-micro inte- grated systems. As is shown, such new technologies would lead to robotic, fully autonomous, microwatt consumption and complete ` laboratory on a chip ' units for accurate, fast and cost-effective astrobiological and planetary exploration missions. The theory and the manufacturing technologies for the ` active chip ' of a miniature bio/chemoprospecting planetary rover working on micro- and nanofluidics are investigated. The chip would include micro- and nanoreactors, integrated MEMS (MicroElectroMechanical System) components, nanoelectronics and an intracavity nanolaser for highly accurate and fast chemical analysis as an application of such recently introduced solid state devices. Nano-reactors would be able to strongly speed up reaction kinetics as a result of increased frequency of reactive collisions. The reaction dynamics may also be altered with respect to standard macroscopic reactors. A built-in miniature telemetering unit would connect a network of other similar rovers and a central, ground-based or orbiting control unit for data collection and transmission to an Earth-based unit through a powerful antenna. The development of the ` Lab-on-Chip ' concept for space applications would affect the economy of space exploration missions, as the rover's ` Lab-on-Chip ' development would link space missions with the ever growing terrestrial market and business concerning such devices, largely employed in modern genomics and bioinformatics, so that it would allow the recoupment of space mission costs.

Planetary surface exploration MESUR/autonomous lunar rover

NASA Astrophysics Data System (ADS)

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

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

Planetary surface exploration: MESUR/autonomous lunar rover

NASA Astrophysics Data System (ADS)

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

1992-06-01

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

Planetary surface exploration MESUR/autonomous lunar rover

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

Planetary surface exploration: MESUR/autonomous lunar rover

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

Archiving Data From the 2003 Mars Exploration Rover Mission

NASA Astrophysics Data System (ADS)

Arvidson, R. E.

2002-12-01

The two Mars Exploration Rovers will touch down on the red planet in January 2004 and each will operate for at least 90 sols, traversing hundreds of meters across the surface and acquiring data from the Athena Science Payload (mast-based multi-spectral, stereo-imaging data and emission spectra; arm-based in-situ Alpha Particle X-Ray (APXS) and Mössbauer Spectroscopy, microscopic imaging, coupled with use of a rock abrasion tool) at a number of locations. In addition, the rovers will acquire science and engineering data along traverses to characterize terrain properties and perhaps be used to dig trenches. An "Analyst's Notebook" concept has been developed to capture, organize, archive and distribute raw and derived data sets and documentation (http://wufs.wustl.edu/rover). The Notebooks will be implemented in ways that will allow users to "playback" the mission, using executed commands to drive animated views of rover activities, and pop-up windows to show why particular observations were acquired, along with displays of raw and derived data products. In addition, the archive will include standard Planetary Data System files and software for processing to higher-level products. The Notebooks will exist both as an online system and as a set of distributable Digital Video Discs or other appropriate media. The Notebooks will be made available through the Planetary Data System within six months after the end of observations for the relevant rovers.

Project of the planetary terrain analogs research for technology development and education in geodesy and image processing.

NASA Astrophysics Data System (ADS)

Semenov, Mikhail; Gavrushin, Nikolay; Bataev, Mikhail; Kruzhkov, Maxim; Oberst, Juergen

2013-04-01

The MIIGAiK Extraterrestrial Laboratory (MExLab) is currently finalizing the development the robotic mobile science platform MExRover, designed for simulating rover activities on the surface of earth-type planets and satellites. In the project, we develop a hardware and software platform for full rover operation and telemetry processing from onboard instruments, as a means of training undergraduate and postgraduate students and young scientists working in the field of planetary exploration. 1. Introduction The main aim of the project is to provide the research base for image processing development and geodesy survey. Other focus is the development of research programs with participation of students and young scientists of the University, for digital terrain model creation for macro- and microrelief surveying. MExRover would be a bridge from the old soviet Lunokhod experience to the new research base for the future rover technology development support. 2. Rover design The design of the rover and its instrument suite allows acquiring images and navigation data satisfying the requirements for photogrammetric processing. The high-quality color panoramas as well as DTMs (Digital Terrain Models) will be produced aboard and could be used for the real-time track correction and environment analysis. A local operator may control the rover remotely from a distance up to 3 km and continuously monitor all systems. The MExRover has a modular design, which provides maximum flexibility for accomplishing different tasks with different sets of additional equipment weighing up to 15 kg. The framework can be easily disassembled and fit into 3 transport boxes, which allows transporting them on foot, by car, train or plane as a the ordinary luggage. The imaging system included in the present design comprises low resolution video cameras, high resolution stereo camera, microphone and IR camera. More instruments are planned to be installed later as auxiliary equipment, such as: spectrometer, odometer, solar radiation sensor, temperature sensor, wind sensor, magnetometer and radiation detector. The first version of the MExRover is operational and now is in testing process. We are open to proposals of mutual exploitation of MExRover platform for science, education and outreach purposes. 3. Specification Dimensions W×L×H 600×1000×400/1700 mm Maximum weight 60 kg Payload weight 20 kg Cruising range 3 km Mean velocity 1 km/h Acknowledgements This work is supported by the Ministry of Education and Science of the Russian Federation (MEGA-GRANT, Project name: "Geodesy, cartography and the study of planets and satellites", contract # 11.G34.31.0021 dd. 30.11.2010).

Construction of the Hunveyor-Husar space probe model system for planetary science education and analog studies and simulations in universities and colleges of Hungary.

NASA Astrophysics Data System (ADS)

Bérczi, Sz.; Hegyi, S.; Hudoba, Gy.; Hargitai, H.; Kokiny, A.; Drommer, B.; Gucsik, A.; Pintér, A.; Kovács, Zs.

Several teachers and students had the possibility to visit International Space Camp in the vicinity of the MSFC NASA in Huntsville Alabama USA where they learned the success of simulators in space science education To apply these results in universities and colleges in Hungary we began a unified complex modelling in planetary geology robotics electronics and complex environmental analysis by constructing an experimental space probe model system First a university experimental lander HUNVEYOR Hungarian UNiversity surVEYOR then a rover named HUSAR Hungarian University Surface Analyser Rover has been built For Hunveyor the idea and example was the historical Surveyor program of NASA in the 1960-ies for the Husar the idea and example was the Pathfinder s rover Sojouner rover The first step was the construction of the lander a year later the rover followed The main goals are 1 to build the lander structure and basic electronics from cheap everyday PC compatible elements 2 to construct basic experiments and their instruments 3 to use the system as a space activity simulator 4 this simulator contains lander with on board computer for works on a test planetary surface and a terrestrial control computer 5 to harmonize the assemblage of the electronic system and instruments in various levels of autonomy from the power and communication circuits 6 to use the complex system in education for in situ understanding complex planetary environmental problems 7 to build various planetary environments for application of the

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

KLARER,PAUL R.; BINDER,ALAN B.; LENARD,ROGER X.

A preliminary set of requirements for a robotic rover mission to the lunar polar region are described and assessed. Tasks to be performed by the rover include core drill sample acquisition, mineral and volatile soil content assay, and significant wide area traversals. Assessment of the postulated requirements is performed using first order estimates of energy, power, and communications throughput issues. Two potential rover system configurations are considered, a smaller rover envisioned as part of a group of multiple rovers, and a larger single rover envisioned along more traditional planetary surface rover concept lines.

The ExoMars Rover Science Archive: Status and Plans

NASA Astrophysics Data System (ADS)

Heather, D.; Lim, T.; Metcalfe, L.

2017-09-01

The ExoMars program is a co-operation between ESA and Roscosmos comprising two missions: the first, launched on 14 March 2016, included the Trace Gas Orbiter and Schiaparelli lander; the second, due for launch in 2020, will be a Rover and Surface Platform (RSP). The ExoMars Rover and Surface Platform deliveries will be among the first data in the PSA to be formatted according to the new PDS4 Standards, and will be the first rover data to be hosted within the archive at all. The archiving and management of the science data to be returned from ExoMars will require a significant development effort for the new Planetary Science Archive (PSA). This presentation will outline the current plans for archiving of the ExoMars Rover and Surface Platform science data.

Identifying mechanical property parameters of planetary soil using in-situ data obtained from exploration rovers

NASA Astrophysics Data System (ADS)

Ding, Liang; Gao, Haibo; Liu, Zhen; Deng, Zongquan; Liu, Guangjun

2015-12-01

Identifying the mechanical property parameters of planetary soil based on terramechanics models using in-situ data obtained from autonomous planetary exploration rovers is both an important scientific goal and essential for control strategy optimization and high-fidelity simulations of rovers. However, identifying all the terrain parameters is a challenging task because of the nonlinear and coupling nature of the involved functions. Three parameter identification methods are presented in this paper to serve different purposes based on an improved terramechanics model that takes into account the effects of slip, wheel lugs, etc. Parameter sensitivity and coupling of the equations are analyzed, and the parameters are grouped according to their sensitivity to the normal force, resistance moment and drawbar pull. An iterative identification method using the original integral model is developed first. In order to realize real-time identification, the model is then simplified by linearizing the normal and shearing stresses to derive decoupled closed-form analytical equations. Each equation contains one or two groups of soil parameters, making step-by-step identification of all the unknowns feasible. Experiments were performed using six different types of single-wheels as well as a four-wheeled rover moving on planetary soil simulant. All the unknown model parameters were identified using the measured data and compared with the values obtained by conventional experiments. It is verified that the proposed iterative identification method provides improved accuracy, making it suitable for scientific studies of soil properties, whereas the step-by-step identification methods based on simplified models require less calculation time, making them more suitable for real-time applications. The models have less than 10% margin of error comparing with the measured results when predicting the interaction forces and moments using the corresponding identified parameters.

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.

Sojourner, Wedge, & Shark

NASA Technical Reports Server (NTRS)

1997-01-01

This Imager for Mars Pathfinder (IMP) image taken near the end of daytime operations on Sol 50 shows the Sojourner rover between the rocks 'Wedge' (foreground) and 'Shark' (behind rover). The rover successfully deployed its Alpha Proton X-Ray Spectrometer on Shark on Sol 52.

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is a division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

Micro-technology for planetary exploration and education

NASA Technical Reports Server (NTRS)

Miller, David P.; Varsi, Giulio

1991-01-01

The use of combined miniaturization technology and distributed information systems in planetary exploration is discussed. Missions in which teams of microrovers collect samples from planetary surfaces are addressed, emphasizing the ability of rovers to provide coverage of large areas, reliability through redundancy, and participation of a large group of investigators. The latter could involve people from a variety of institutions, increasing the opportunity for wide education and the increased interest of society in general in space exploration. A three-phase program to develop the present approach is suggested.

Characterizing the Perfonnance of the Wheel Electrostatic Spectrometer

NASA Technical Reports Server (NTRS)

Johansen, Michael R.; Mackey, P. J.; Holbert, E.; Clements, J. S.; Calle, C. I.

2013-01-01

A Wheel Electrostatic Spectrometer has been developed as a surveying tool to be incorporated into a planetary rover design. Electrostatic sensors with various protruding cover insulators are embedded into a prototype rover wheel. When these insulators come into contact with a surface, a charge develops on the cover insulator through tribocharging. A charge spectrum is created by analyzing the accumulated charge on each of the dissimilar cover insulators. We eventually intend to prove charge spectra can be used o determine differences in planetary regolith properties. We tested the effects of residual surface charge on the cover insulators and discovered a need to discharge the sensor cover insulators after each revolution. We proved the repeatability of the measurements for this sensor package and found that the sensor repeatability lies within one standard deviation of the noise in the signal.

Autonomous Surface Sample Acquisition for Planetary and Lunar Exploration

NASA Astrophysics Data System (ADS)

Barnes, D. P.

2007-08-01

Surface science sample acquisition is a critical activity within any planetary and lunar exploration mission, and our research is focused upon the design, implementation, experimentation and demonstration of an onboard autonomous surface sample acquisition capability for a rover equipped with a robotic arm upon which are mounted appropriate science instruments. Images captured by a rover stereo camera system can be processed using shape from stereo methods and a digital elevation model (DEM) generated. We have developed a terrain feature identification algorithm that can determine autonomously from DEM data suitable regions for instrument placement and/or surface sample acquisition. Once identified, surface normal data can be generated autonomously which are then used to calculate an arm trajectory for instrument placement and sample acquisition. Once an instrument placement and sample acquisition trajectory has been calculated, a collision detection algorithm is required to ensure the safe operation of the arm during sample acquisition.We have developed a novel adaptive 'bounding spheres' approach to this problem. Once potential science targets have been identified, and these are within the reach of the arm and will not cause any undesired collision, then the 'cost' of executing the sample acquisition activity is required. Such information which includes power expenditure and duration can be used to select the 'best' target from a set of potential targets. We have developed a science sample acquisition resource requirements calculation that utilises differential inverse kinematics methods to yield a high fidelity result, thus improving upon simple 1st order approximations. To test our algorithms a new Planetary Analogue Terrain (PAT) Laboratory has been created that has a terrain region composed of Mars Soil Simulant-D from DLR Germany, and rocks that have been fully characterised in the laboratory. These have been donated by the UK Planetary Analogue Field Study network, and constitute the science targets for our autonomous sample acquisition work. Our PAT Lab. terrain has been designed to support our new rover chassis which is based upon the ExoMars rover Concept-E mechanics which were investigated during the ESA ExoMars Phase A study. The rover has 6 wheel drives, 6 wheels steering, and a 6 wheel walking capability. Mounted on the rover chassis is the UWA robotic arm and mast. We have designed and built a PanCam system complete with a computer controlled pan and tilt mechanism. The UWA PanCam is based upon the ExoMars PanCam (Phase A study) and hence supports two Wide Angle Cameras (WAC - 64 degree FOV), and a High Resolution Camera (HRC - 5 degree FOV). WAC separation is 500 mm. Software has been developed to capture images which form the data input into our on-board autonomous surface sample acquisition algorithms.

Horizon Based Orientation Estimation for Planetary Surface Navigation

NASA Technical Reports Server (NTRS)

Bouyssounouse, X.; Nefian, A. V.; Deans, M.; Thomas, A.; Edwards, L.; Fong, T.

2016-01-01

Planetary rovers navigate in extreme environments for which a Global Positioning System (GPS) is unavailable, maps are restricted to relatively low resolution provided by orbital imagery, and compass information is often lacking due to weak or not existent magnetic fields. However, an accurate rover localization is particularly important to achieve the mission success by reaching the science targets, avoiding negative obstacles visible only in orbital maps, and maintaining good communication connections with ground. This paper describes a horizon solution for precise rover orientation estimation. The detected horizon in imagery provided by the on board navigation cameras is matched with the horizon rendered over the existing terrain model. The set of rotation parameters (roll, pitch yaw) that minimize the cost function between the two horizon curves corresponds to the rover estimated pose.

Advanced Design and Implementation of a Control Architecture for Long Range Autonomous Planetary Rovers

NASA Technical Reports Server (NTRS)

Martin-Alvarez, A.; Hayati, S.; Volpe, R.; Petras, R.

1999-01-01

An advanced design and implementation of a Control Architecture for Long Range Autonomous Planetary Rovers is presented using a hierarchical top-down task decomposition, and the common structure of each design is presented based on feedback control theory. Graphical programming is presented as a common intuitive language for the design when a large design team is composed of managers, architecture designers, engineers, programmers, and maintenance personnel. The whole design of the control architecture consists in the classic control concepts of cyclic data processing and event-driven reaction to achieve all the reasoning and behaviors needed. For this purpose, a commercial graphical tool is presented that includes the mentioned control capabilities. Messages queues are used for inter-communication among control functions, allowing Artificial Intelligence (AI) reasoning techniques based on queue manipulation. Experimental results show a highly autonomous control system running in real time on top the JPL micro-rover Rocky 7 controlling simultaneously several robotic devices. This paper validates the sinergy between Artificial Intelligence and classic control concepts in having in advanced Control Architecture for Long Range Autonomous Planetary Rovers.

Mars Rover Navigation Results Using Sun Sensor Heading Determination

NASA Technical Reports Server (NTRS)

Volpe, Richard

1998-01-01

Upcoming missions to the surface of Mars will use mobile robots to traverse long distances from the landing site. To prepare for these missions, the prototype rover, Rocky 7, has been tested in desert field trials conducted with a team of planetary scientists. While several new capabilities have been demonstrated, foremost among these was sun-sensor based traversal of natural terrain totaling a distance of one kilometer. This paper describes navigation results obtained in the field tests, where cross-track error was only 6% of distance traveled. Comparison with previous results of other planetary rover systems shows this to be a significant improvement.

Robotic Technology Development at Ames: The Intelligent Robotics Group and Surface Telerobotics

NASA Technical Reports Server (NTRS)

Bualat, Maria; Fong, Terrence

2013-01-01

Future human missions to the Moon, Mars, and other destinations offer many new opportunities for exploration. But, astronaut time will always be limited and some work will not be feasible for humans to do manually. Robots, however, can complement human explorers, performing work autonomously or under remote supervision from Earth. Since 2004, the Intelligent Robotics Group has been working to make human-robot interaction efficient and effective for space exploration. A central focus of our research has been to develop and field test robots that benefit human exploration. Our approach is inspired by lessons learned from the Mars Exploration Rovers, as well as human spaceflight programs, including Apollo, the Space Shuttle, and the International Space Station. We conduct applied research in computer vision, geospatial data systems, human-robot interaction, planetary mapping and robot software. In planning for future exploration missions, architecture and study teams have made numerous assumptions about how crew can be telepresent on a planetary surface by remotely operating surface robots from space (i.e. from a flight vehicle or deep space habitat). These assumptions include estimates of technology maturity, existing technology gaps, and likely operational and functional risks. These assumptions, however, are not grounded by actual experimental data. Moreover, no crew-controlled surface telerobotic system has yet been fully tested, or rigorously validated, through flight testing. During Summer 2013, we conducted a series of tests to examine how astronauts in the International Space Station (ISS) can remotely operate a planetary rover across short time delays. The tests simulated portions of a proposed human-robotic Lunar Waypoint mission, in which astronauts in lunar orbit remotely operate a planetary rover on the lunar Farside to deploy a radio telescope array. We used these tests to obtain baseline-engineering data.

Results from Testing Crew-Controlled Surface Telerobotics on the International Space Station

NASA Technical Reports Server (NTRS)

Bualat, Maria; Schreckenghost, Debra; Pacis, Estrellina; Fong, Terrence; Kalar, Donald; Beutter, Brent

2014-01-01

During Summer 2013, the Intelligent Robotics Group at NASA Ames Research Center conducted a series of tests to examine how astronauts in the International Space Station (ISS) can remotely operate a planetary rover. The tests simulated portions of a proposed lunar mission, in which an astronaut in lunar orbit would remotely operate a planetary rover to deploy a radio telescope on the lunar far side. Over the course of Expedition 36, three ISS astronauts remotely operated the NASA "K10" planetary rover in an analogue lunar terrain located at the NASA Ames Research Center in California. The astronauts used a "Space Station Computer" (crew laptop), a combination of supervisory control (command sequencing) and manual control (discrete commanding), and Ku-band data communications to command and monitor K10 for 11 hours. In this paper, we present and analyze test results, summarize user feedback, and describe directions for future research.

Robotic magnetic mapping with the Kapvik planetary micro-rover

NASA Astrophysics Data System (ADS)

Hay, A.; Samson, C.

2018-07-01

Geomagnetic data gathering by micro-rovers is gaining momentum both for future planetary exploration missions and for terrestrial applications in extreme environments. This paper presents research into the integration of a planetary micro-rover with a potassium total-field magnetometer. The 40 kg Kapvik micro-rover is an ideal platform due to an aluminium construction and a rocker-bogie mobility system, which provides good manoeuvrability and terrainability. A light-weight GSMP 35U (uninhabited aerial vehicle) magnetometer, comprised of a 0.65 kg sensor and 0.63 kg electronics module, was mounted to the chassis via a custom 1.21 m composite boom. The boom dimensions were optimized to be an effective compromise between noise mitigation and mechanical practicality. An analysis using the fourth difference method was performed estimating the magnetic noise envelope at +/-0.03 nT at 10 Hz sampling frequency from the integrated systems during robotic operations. A robotic magnetic survey captured the total magnetic intensity along three parallel 40 m long lines and a perpendicular 15 m long tie line over the course of 3.75 h. The total magnetic intensity data were corrected for diurnal variations, levelled by linear interpolation of tie-line intersection points, corrected for a regional gradient, and then interpolated using Delaunay triangulation to lead a residual magnetic intensity map. This map exhibited an anomalous linear feature corresponding to a magnetic dipole 650 nT in amplitude. This feature coincides with a storm sewer buried approximately 2 m in the subsurface. This work provides benchmark methodologies and data to guide future integration of magnetometers on board planetary micro-rovers.

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.

Particle Filters for Real-Time Fault Detection in Planetary Rovers

NASA Technical Reports Server (NTRS)

Dearden, Richard; Clancy, Dan; Koga, Dennis (Technical Monitor)

2001-01-01

Planetary rovers provide a considerable challenge for robotic systems in that they must operate for long periods autonomously, or with relatively little intervention. To achieve this, they need to have on-board fault detection and diagnosis capabilities in order to determine the actual state of the vehicle, and decide what actions are safe to perform. Traditional model-based diagnosis techniques are not suitable for rovers due to the tight coupling between the vehicle's performance and its environment. Hybrid diagnosis using particle filters is presented as an alternative, and its strengths and weakeners are examined. We also present some extensions to particle filters that are designed to make them more suitable for use in diagnosis problems.

X-Ray Instrument for Mars 2020 Rover is PIXL

NASA Image and Video Library

2014-07-31

This diagram depicts the sensor head of the Planetary Instrument for X-RAY Lithochemistry, or PIXL, which has been selected as one of seven investigations for the payload of NASA Mars 2020 rover mission.

Augmenting Sand Simulation Environments through Subdivision and Particle Refinement

NASA Astrophysics Data System (ADS)

Clothier, M.; Bailey, M.

2012-12-01

Recent advances in computer graphics and parallel processing hardware have provided disciplines with new methods to evaluate and visualize data. These advances have proven useful for earth and planetary scientists as many researchers are using this hardware to process large amounts of data for analysis. As such, this has provided opportunities for collaboration between computer graphics and the earth sciences. Through collaboration with the Oregon Space Grant and IGERT Ecosystem Informatics programs, we are investigating techniques for simulating the behavior of sand. We are also collaborating with the Jet Propulsion Laboratory's (JPL) DARTS Lab to exchange ideas and gain feedback on our research. The DARTS Lab specializes in simulation of planetary vehicles, such as the Mars rovers. Their simulations utilize a virtual "sand box" to test how a planetary vehicle responds to different environments. Our research builds upon this idea to create a sand simulation framework so that planetary environments, such as the harsh, sandy regions on Mars, are more fully realized. More specifically, we are focusing our research on the interaction between a planetary vehicle, such as a rover, and the sand beneath it, providing further insight into its performance. Unfortunately, this can be a computationally complex problem, especially if trying to represent the enormous quantities of sand particles interacting with each other. However, through the use of high-performance computing, we have developed a technique to subdivide areas of actively participating sand regions across a large landscape. Similar to a Level of Detail (LOD) technique, we only subdivide regions of a landscape where sand particles are actively participating with another object. While the sand is within this subdivision window and moves closer to the surface of the interacting object, the sand region subdivides into smaller regions until individual sand particles are left at the surface. As an example, let's say there is a planetary rover interacting with our sand simulation environment. Sand that is actively interacting with a rover wheel will be represented as individual particles whereas sand that is further under the surface will be represented by larger regions of sand. The result of this technique allows for many particles to be represented without the computational complexity. In developing this method, we have further generalized these subdivision regions into any volumetric area suitable for use in the simulation. This is a further improvement of our method as it allows for more compact subdivision sand regions. This helps to fine tune the simulation so that more emphasis can be placed on regions of actively participating sand. We feel that through the generalization of our technique, our research can provide other opportunities within the earth and planetary sciences. Through collaboration with our academic colleagues, we continue to refine our technique and look for other opportunities to utilize our research.

Path-following control of wheeled planetary exploration robots moving on deformable rough terrain.

PubMed

Ding, Liang; Gao, Hai-bo; Deng, Zong-quan; Li, Zhijun; Xia, Ke-rui; Duan, Guang-ren

2014-01-01

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip.

Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain

PubMed Central

Ding, Liang; Gao, Hai-bo; Deng, Zong-quan; Li, Zhijun; Xia, Ke-rui; Duan, Guang-ren

2014-01-01

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip. PMID:24790582

Autonomous Soil Assessment System: A Data-Driven Approach to Planetary Mobility Hazard Detection

NASA Astrophysics Data System (ADS)

Raimalwala, K.; Faragalli, M.; Reid, E.

2018-04-01

The Autonomous Soil Assessment System predicts mobility hazards for rovers. Its development and performance are presented, with focus on its data-driven models, machine learning algorithms, and real-time sensor data fusion for predictive analytics.

Rover Soil Experiments Near Yogi

NASA Technical Reports Server (NTRS)

1997-01-01

Sojourner, while on its way to the rock Yogi, performed several soil mechanics experiments. Piles of loose material churned up from the experiment are seen in front of and behind the Rover. The rock Pop-Tart is visible near the front right rover wheel. Yogi is at upper right. The image was taken by the Imager for Mars Pathfinder.

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is a division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

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.

Testing Planetary Rovers: Technologies, Perspectives, and Lessons Learned

NASA Technical Reports Server (NTRS)

Thomas, Hans; Lau, Sonie (Technical Monitor)

1998-01-01

Rovers are a vital component of NASA's strategy for manned and unmanned exploration of space. For the past five years, the Intelligent Mechanisms Group at the NASA Ames Research Center has conducted a vigorous program of field testing of rovers from both technology and science team productivity perspective. In this talk, I will give an overview of the the last two years of the test program, focusing on tests conducted in the Painted Desert of Arizona, the Atacama desert in Chile, and on IMG participation in the Mars Pathfinder mission. An overview of autonomy, manipulation, and user interface technologies developed in response to these missions will be presented, and lesson's learned in these missions and their impact on future flight missions will be presented. I will close with some perspectives on how the testing program has affected current rover systems.

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 ExoMars Science Data Archive: Status and Plans

NASA Astrophysics Data System (ADS)

Heather, David; Barbarisi, Isa; Brumfitt, Jon; Lim, Tanya; Metcalfe, Leo; Villacorta, Antonio

2017-04-01

The ExoMars program is a co-operation between ESA and Roscosmos comprising two missions: the first, launched on 14 March 2016, included the Trace Gas Orbiter and Schiaparelli lander; the second, due for launch in 2020, will be a Rover and Surface Platform (RSP). The archiving and management of the science data to be returned from ExoMars will require a significant development effort for the new Planetary Science Archive (PSA). These are the first data in the PSA to be formatted according to the new PDS4 Standards, and there are also significant differences in the way in which a scientist will want to query, retrieve, and use data from a suite of rover instruments as opposed to remote sensing instrumentation from an orbiter. NASA has a strong user community interaction for their rovers, and a similar approach to their 'Analysts Notebook' will be needed for the future PSA. In addition to the archiving interface itself, there are differences with the overall archiving process being followed for ExoMars compared to previous ESA planetary missions. The first level of data processing for the 2016 mission, from telemetry to raw, is completed by ESA at ESAC in Madrid, where the archive itself resides. Data continuously flow direct to the PSA, where after the given proprietary period, they will be released to the community via the user interfaces. For the rover mission, the data pipelines are being developed by European industry, in close collaboration with ESA PSA experts and with the instrument teams. The first level of data processing will be carried out for all instruments at ALTEC in Turin where the pipelines are developed, and from where the rover operations will also be run. This presentation will focus on the challenges involved in archiving the data from the ExoMars Program, and will outline the plans and current status of the system being developed to respond to the needs of the missions.

Autonomous Sample Acquisition for Planetary and Small Body Explorations

NASA Technical Reports Server (NTRS)

Ghavimi, Ali R.; Serricchio, Frederick; Dolgin, Ben; Hadaegh, Fred Y.

2000-01-01

Robotic drilling and autonomous sample acquisition are considered as the key technology requirements in future planetary or small body exploration missions. Core sampling or subsurface drilling operation is envisioned to be off rovers or landers. These supporting platforms are inherently flexible, light, and can withstand only limited amount of reaction forces and torques. This, together with unknown properties of sampled materials, makes the sampling operation a tedious task and quite challenging. This paper highlights the recent advancements in the sample acquisition control system design and development for the in situ scientific exploration of planetary and small interplanetary missions.

The mass of massive rover software

NASA Technical Reports Server (NTRS)

Miller, David P.

1993-01-01

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

Human-like robots for space and hazardous environments

NASA Technical Reports Server (NTRS)

Cogley, Allen; Gustafson, David; White, Warren; Dyer, Ruth; Hampton, Tom (Editor); Freise, Jon (Editor)

1990-01-01

The three year goal for this NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of rough terrain crossing, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation and path planning skills. These goals came from the concept that the robot should have the abilities of both a planetary rover and a hazardous waste site scout.

Human-like robots for space and hazardous environments

NASA Astrophysics Data System (ADS)

Cogley, Allen; Gustafson, David; White, Warren; Dyer, Ruth; Hampton, Tom; Freise, Jon

The three year goal for this NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of rough terrain crossing, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation and path planning skills. These goals came from the concept that the robot should have the abilities of both a planetary rover and a hazardous waste site scout.

An advanced terrain modeler for an autonomous planetary rover

NASA Technical Reports Server (NTRS)

Hunter, E. L.

1980-01-01

A roving vehicle capable of autonomously exploring the surface of an alien world is under development and an advanced terrain modeler to characterize the possible paths of the rover as hazardous or safe is presented. This advanced terrain modeler has several improvements over the Troiani modeler that include: a crosspath analysis, better determination of hazards on slopes, and methods for dealing with missing returns at the extremities of the sensor field. The results from a package of programs to simulate the roving vehicle are then examined and compared to results from the Troiani modeler.

Supporting Increased Autonomy for a Mars Rover

NASA Technical Reports Server (NTRS)

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

2008-01-01

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

Modeling and Simulation of the Dynamics of Dissipative, Inelastic Spheres with Applications to Planetary Rovers and Gravitational Billiards

NASA Astrophysics Data System (ADS)

Hartl, Alexandre E.

This dissertation provides a thorough treatment on the dynamic modeling and simulation of spherical objects, and its applications to planetary rovers and gravitational billiards. First, the equations governing the motion of a wind-driven spherical rover are developed, and a numerical procedure for their implementation is shown. Dynamic simulations (considering the Earth and Mars atmospheres) for several terrain types and conditions illustrate how a rover may maneuver across flat terrain, channels and craters. The effects of aerodynamic forces on the rover's motion is studied. The results show the wind force may both push and hinder the rover's motion while sliding, rolling and bouncing. The rover will periodically transition between these modes of movement when the rover impacts sloped surfaces. Combinations of rolling and bouncing may be a more effective means of transport for a rover traveling through a channel when compared to rolling alone. The aerodynamic effects, of drag and the Magnus force, are contributing factors to the possible capture of the rover by a crater. Next, a strategy is formulated for creating randomized Martian rock fields based on statistical models, where the rover's interactions with these fields are analyzed. Novel procedures for creating randomized Martian rock fields are presented, where optimization techniques allow terrain generation to coincide with the rover's motion. Efficient collision detection routines reduce the number of tests of potential collisions between the rover and the terrain while establishing new contact constraints. The procedures allow for the exploration of large regions of terrain while minimizing computational costs. Simulations demonstrate that bouncing is the rover's dominant mode of travel through the rock fields. Monte-Carlo simulations illustrate how the rover's down-range position depends on the rover design and atmospheric conditions. Moreover, the simulations verify the rover's capacity for long distance travel over Martian rock fields. Finally, a mathematical model that captures the essential dynamics required for describing the motion of a real world billiard for arbitrary boundaries is presented. The model considers the more realistic situation of an inelastic, rotating, gravitational billiard in which there are retarding forces due to air resistance and friction. The simulations demonstrate that the parabola has stable, periodic motion, while the wedge and hyperbola, at high driving frequencies, appear chaotic. The hyperbola, at low driving frequencies, behaves similarly to the parabola, and has regular motion. Direct comparisons are made between the model's predictions and previously published experimental data. The representation of the coefficient of restitution employed in the model resulted in good agreement with the experimental data for all boundary shapes investigated. It is shown that the data can be successfully modeled with a simple set of parameters without an assumption of exotic energy dependence.

Path planning and execution monitoring for a planetary rover

NASA Technical Reports Server (NTRS)

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

1990-01-01

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

Hybrid Heat Pipes for Lunar and Martian Surface and High Heat Flux Space Applications

NASA Technical Reports Server (NTRS)

Ababneh, Mohammed T.; Tarau, Calin; Anderson, William G.; Farmer, Jeffery T.; Alvarez-Hernandez, Angel R.

2016-01-01

Novel hybrid wick heat pipes are developed to operate against gravity on planetary surfaces, operate in space carrying power over long distances and act as thermosyphons on the planetary surface for Lunar and Martian landers and rovers. These hybrid heat pipes will be capable of operating at the higher heat flux requirements expected in NASA's future spacecraft and on the next generation of polar rovers and equatorial landers. In addition, the sintered evaporator wicks mitigate the start-up problems in vertical gravity aided heat pipes because of large number of nucleation sites in wicks which will allow easy boiling initiation. ACT, NASA Marshall Space Flight Center, and NASA Johnson Space Center, are working together on the Advanced Passive Thermal experiment (APTx) to test and validate the operation of a hybrid wick VCHP with warm reservoir and HiK"TM" plates in microgravity environment on the ISS.

A manipulator arm for zero-g simulations

NASA Technical Reports Server (NTRS)

Brodie, S. B.; Grant, C.; Lazar, J. J.

1975-01-01

A 12-ft counterbalanced Slave Manipulator Arm (SMA) was designed and fabricated to be used for resolving the questions of operational applications, capabilities, and limitations for such remote manned systems as the Payload Deployment and Retrieval Mechanism (PDRM) for the shuttle, the Free-Flying Teleoperator System, the Advanced Space Tug, and Planetary Rovers. As a developmental tool for the shuttle manipulator system (or PDRM), the SMA represents an approximate one-quarter scale working model for simulating and demonstrating payload handling, docking assistance, and satellite servicing. For the Free-Flying Teleoperator System and the Advanced Tug, the SMA provides a near full-scale developmental tool for satellite servicing, docking, and deployment/retrieval procedures, techniques, and support equipment requirements. For the Planetary Rovers, it provides an oversize developmental tool for sample handling and soil mechanics investigations. The design of the SMA was based on concepts developed for a 40-ft NASA technology arm to be used for zero-g shuttle manipulator simulations.

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.

Reinforcement Learning for Weakly-Coupled MDPs and an Application to Planetary Rover Control

NASA Technical Reports Server (NTRS)

Bernstein, Daniel S.; Zilberstein, Shlomo

2003-01-01

Weakly-coupled Markov decision processes can be decomposed into subprocesses that interact only through a small set of bottleneck states. We study a hierarchical reinforcement learning algorithm designed to take advantage of this particular type of decomposability. To test our algorithm, we use a decision-making problem faced by autonomous planetary rovers. In this problem, a Mars rover must decide which activities to perform and when to traverse between science sites in order to make the best use of its limited resources. In our experiments, the hierarchical algorithm performs better than Q-learning in the early stages of learning, but unlike Q-learning it converges to a suboptimal policy. This suggests that it may be advantageous to use the hierarchical algorithm when training time is limited.

Terrain Model Registration for Single Cycle Instrument Placement

NASA Technical Reports Server (NTRS)

Deans, Matthew; Kunz, Clay; Sargent, Randy; Pedersen, Liam

2003-01-01

This paper presents an efficient and robust method for registration of terrain models created using stereo vision on a planetary rover. Our approach projects two surface models into a virtual depth map, rendering the models as they would be seen from a single range sensor. Correspondence is established based on which points project to the same location in the virtual range sensor. A robust norm of the deviations in observed depth is used as the objective function, and the algorithm searches for the rigid transformation which minimizes the norm. An initial coarse search is done using rover pose information from odometry and orientation sensing. A fine search is done using Levenberg-Marquardt. Our method enables a planetary rover to keep track of designated science targets as it moves, and to hand off targets from one set of stereo cameras to another. These capabilities are essential for the rover to autonomously approach a science target and place an instrument in contact in a single command cycle.

Measuring planetary field parameters by scattered "SSSS" from the Husar-5 Rover

NASA Astrophysics Data System (ADS)

Lang, A.; Kocsis, A.; Balaskó, D.; Csóka, B.; Molnar, B.; Sztojka, A.; Bejó, M.; Joób, Z.

2017-09-01

HUSAR-5 Rover reloaded: 2 years ago the Hunveyor-Husar Team in our school made yet a similar project. The ground idea was, we try to keep step with the main trends in the space research, in our recent case with the so called MSSM (Micro Sized Space- Mothership) and NPSDR (Nano, Pico Space Devices and Robots). [1]Of course, we do not want to scatter the smaller probe-cubes from a mothership, but from the Husar rover, and to do it on the planetary surface after landing. We have fabricated the rover with the ejecting tower and we have shown it on the EPSC 2015.The word "reloaded" means not only a new shape of the bullets, but a new mission with a new team. There are more pupils working in this project. The new bullets "SSSS" will be printed by a 3D printer.The microcontroller in bullets can be programmed with Arduino, so the "new generation" is able to do it.

MEMS-Based Micro Instruments for In-Situ Planetary Exploration

NASA Technical Reports Server (NTRS)

George, Thomas; Urgiles, Eduardo R; Toda, Risaku; Wilcox, Jaroslava Z.; Douglas, Susanne; Lee, C-S.; Son, Kyung-Ah; Miller, D.; Myung, N.; Madsen, L.;

The traverse planning process for D-RATS 2010

NASA Astrophysics Data System (ADS)

Hörz, Friedrich; Lofgren, Gary E.; Gruener, John E.; Eppler, Dean B.; Skinner, James A.; Fortezzo, Corey M.; Graf, Jodi S.; Bluethmann, William J.; Seibert, Marc A.; Bell, Ernest R.

2013-10-01

This report describes the traverse planning process for the Desert Research and Technology Studies (D-RATS) 2010 field simulation of a conceptual 14-day planetary mission. This activity took place between August 23 and September 17, 2010 in the San Francisco Volcanic Field, Arizona. It focused on the utilization of two pressurized rovers and a ground-based communication system, as well as on the development of mission operation concepts for long duration, dual-rover missions. The early planning process began some 12 months prior to the actual field tests and defined the first order engineering-, flight operations, and science objectives. The detailed implementation and refinement of these objectives took place over the ensuing 10 months, resulting in a large number of technical and operational constraints that affected the actual traverse route or the cumulative Extravehicular Activity (EVA) time available for detailed field observations. The science planning proceeded from the generation of photogeologic maps of the test area, to the establishment of prioritized science objectives and associated candidate sites for detailed field exploration. The combination of operational constraints and science objectives resulted in the final design of traverse routes and time lines for each of the 24 traverses needed to support 12 field days by two rovers. Examples of daily traverses will be given that will hopefully illustrate that the design of long duration, long distance planetary traverses is a highly interdisciplinary and time-consuming collaboration between diverse engineers, flight operations personnel, human factors interests, and planetary scientists.

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.

Rover mounted ground penetrating radar as a tool for investigating the near-surface of Mars and beyong

NASA Technical Reports Server (NTRS)

Grant, J. A.; Schultz, P. H.

1993-01-01

In spite of the highly successful nature of recent planetary missions to the terrestrial planets and outer satellites a number of questions concerning the evolution of their surfaces remain unresolved. For example, knowledge of many characteristics of the stratigraphy and soils comprising the near-surface on Mars remains largely unknown, but is crucial in order to accurately define the history of surface processes and near-surface sedimentary record. Similar statements can be made regarding our understanding of near-surface stratigraphy and processes on other extraterrestrial planetary bodies. Ground penetrating radar (GPR) is a proven and standard instrument capable of imaging the subsurface at high resolution to 10's of meters depth in a variety of terrestrial environments. Moreover, GPR is portable and easily modified for rover deployment. Data collected with a rover mounted GPR could resolve a number of issues related to planetary surface evolution by defining shallow stratigraphic records and would provide context for interpreting results of other surface analyses (e.g. elemental or mineralogical). A discussion of existing GPR capabilities is followed first by examples of how GPR might be used to better define surface evolution on Mars and then by a brief description of possible GPR applications to the Moon and other planetary surfaces.

Immersive environment technologies for planetary exploration with applications for mixed reality

NASA Technical Reports Server (NTRS)

Wright, J.; Hartman, F.; Cooper, B.

2002-01-01

Immersive environments are successfully being used to support mission operations at JPL. This technology contributed to the Mars Pathfinder Mission in planning sorties for the Sojourner rover. Results and operational experiences with these tools are being incorporated into the development of the second generation of mission planning tools.

A science-based executive for autonomous planetary vehicles

NASA Technical Reports Server (NTRS)

Peters, S.

2001-01-01

If requests for scientific observations, rather than specific plans, are uplinked to an autonomous execution system on the vehicle, it would be able to adjust its execution based upon actual performance. Such a science-based executive control system had been developed and demonstrated for the Rocky7 research rover.

Advanced flight computers for planetary exploration

NASA Technical Reports Server (NTRS)

Stephenson, R. Rhoads

1988-01-01

Research concerning flight computers for use on interplanetary probes is reviewed. The history of these computers from the Viking mission to the present is outlined. The differences between ground commercial computers and computers for planetary exploration are listed. The development of a computer for the Mariner Mark II comet rendezvous asteroid flyby mission is described. Various aspects of recently developed computer systems are examined, including the Max real time, embedded computer, a hypercube distributed supercomputer, a SAR data processor, a processor for the High Resolution IR Imaging Spectrometer, and a robotic vision multiresolution pyramid machine for processsing images obtained by a Mars Rover.

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.

First Gravity Traverse on the Martian Surface from the Curiosity Rover

NASA Astrophysics Data System (ADS)

Lewis, K. W.; Peters, S. F.; Gonter, K. A.; Vasavada, A. R.

2016-12-01

Orbital gravity surveys have been a key tool in understanding planetary interiors and shallow crustal structure, exemplified by recent missions such as GRAIL and Juno. However, due to the loss of spatial resolution with altitude, airborne and ground-based survey methods are typically employed on the Earth. Previously, the Lunar Traverse Gravimeter experiment on the Apollo 17 mission has been the only attempt to collect surface gravity measurements on another planetary body. We will describe the results of the first gravity survey on the Martian surface, using data from the Curiosity rover over its >10 km traverse across the floor of Gale crater and lower slopes of Mount Sharp. These results enable us to estimate bulk rock density, and to search for potential subsurface density anomalies. To measure local gravitational acceleration, we use one of the two onboard Rover Inertial Measurement Units (RIMU-A), designed for rover position and fine attitude determination. The IMU contains three-axis micro-electromechanical (MEMS) accelerometers and fiber-optic gyros, and is used for gyrocompassing by integrating data for several minutes on sols with no drive or arm motions (roughly 50% of sols to date). Raw acceleration data are calibrated for biases induced by temperature effects and rover orientation, along with rover elevation over the course of the mission using multiple regression. We use the best fit linear relationship between topographic height and gravitational acceleration to estimate a Bouguer correction for the observed change in magnitude over the mission as the rover has ascended over 100 meters up the lower slopes of Mount Sharp. We find a relatively low best-fit density of 1600 +/- 500 kg/m^3 for the rocks of Mount Sharp, consistent with rover-based measurements of thermal inertial, and potentially indicating pervasive fracturing, high porosity and/or low compaction within the original sediments at least to depths of order 100 meters. Future measurements will further refine this estimate as Curiosity continues to gain elevation. Although not originally intended as a science instrument, these results highlight the scientific potential of surface gravity and topography surveys for future planetary exploration missions.

Post Viking planetary protection requirements study

NASA Technical Reports Server (NTRS)

Wolfson, R. P.

1977-01-01

Past planetary quarantine requirements were reviewed in the light of present Viking data to determine the steps necessary to prevent contamination of the Martian surface on future missions. The currently used term planetary protection reflects a broader scope of understanding of the problems involved. Various methods of preventing contamination are discussed in relation to proposed projects, specifically the 1984 Rover Mission.

Nonlinear adaptive formation control for a class of autonomous holonomic planetary exploration rovers

NASA Astrophysics Data System (ADS)

Ganji, Farid

This dissertation presents novel nonlinear adaptive formation controllers for a heterogeneous group of holonomic planetary exploration rovers navigating over flat terrains with unknown soil types and surface conditions. A leader-follower formation control architecture is employed. In the first part, using a point-mass model for robots and a Coulomb-viscous friction model for terrain resistance, direct adaptive control laws and a formation speed-adaptation strategy are developed for formation navigation over unknown and changing terrain in the presence of actuator saturation. On-line estimates of terrain frictional parameters compensate for unknown terrain resistance and its variations. In saturation events over difficult terrain, the formation speed is reduced based on the speed of the slowest saturated robot, using internal fleet communication and a speed-adaptation strategy, so that the formation error stays bounded and small. A formal proof for asymptotic stability of the formation system in non-saturated conditions is given. The performance of robot controllers are verified using a modular 3-robot formation simulator. Simulations show that the formation errors reduce to zero asymptotically under non-saturated conditions as is guaranteed by the theoretical proof. In the second part, the proposed adaptive control methodology is extended for formation control of a class of omnidirectional rovers with three independently-driven universal holonomic rigid wheels, where the rovers' rigid-body dynamics, drive-system electromechanical characteristics, and wheel-ground interaction mechanics are incorporated. Holonomic rovers have the ability to move simultaneously and independently in translation and rotation, rendering great maneuverability and agility, which makes them suitable for formation navigation. Novel nonlinear adaptive control laws are designed for the input voltages of the three wheel-drive motors. The motion resistance, which is due to the sinkage of rover wheels in soft planetary terrain, is modeled using classical terramechanics theory. The unknown system parameters for adaptive estimation pertain to the rolling resistance forces and scrubbing resistance torques at the wheel-terrain interfaces. Novel terramechanical formulas for terrain resistance forces and torques are derived via considering the universal holonomic wheels as rigid toroidal wheels moving forward and/or sideways as well as turning on soft ground. The asymptotic stability of the formation control system is rigorously proved using Lyapunov's direct method.

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.

Science Alert Demonstration with a Rover Traverse Science Data Analysis System

NASA Technical Reports Server (NTRS)

Castano, R.; Estlin, T.; Gaines, D.; Castano, A.; Bornstein, B.; Anderson, R. C.; Judd, M.; Stough, T.; Wagstaff, K.

2005-01-01

The Onboard Autonomous Science Investigation System (OASIS) evaluates geologic data gathered by a planetary rover. This analysis is used to prioritize the data for transmission, so that the data with the highest science value is transmitted to Earth. In addition, the onboard analysis results are used to identify science opportunities. A planning and scheduling component of the system enables the rover to take advantage of the identified science opportunity. OASIS is a NASA-funded research project that is currently being tested on the FIDO rover at JPL for the use on future missions.

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.

An Extended Kalman filter (EKF) for Mars Exploration Rover (MER) entry, descent, and landing reconstruction

NASA Technical Reports Server (NTRS)

Lisano, M. E.

2003-01-01

This paper describes the design and initial test results of an extended Kalman filter that has been developed at Jet Propulsion Laboratory (JPL) for post-flight reconstruction of the trajectory and attitude history of a spacecraft entering a planetary atmosphere and descending upon a parachute.

Robot Manipulator Technologies for Planetary Exploration

NASA Technical Reports Server (NTRS)

Das, H.; Bao, X.; Bar-Cohen, Y.; Bonitz, R.; Lindemann, R.; Maimone, M.; Nesnas, I.; Voorhees, C.

1999-01-01

NASA exploration missions to Mars, initiated by the Mars Pathfinder mission in July 1997, will continue over the next decade. The missions require challenging innovations in robot design and improvements in autonomy to meet ambitious objectives under tight budget and time constraints. The authors are developing design tools, component technologies and capabilities to address these needs for manipulation with robots for planetary exploration. The specific developments are: 1) a software analysis tool to reduce robot design iteration cycles and optimize on design solutions, 2) new piezoelectric ultrasonic motors (USM) for light-weight and high torque actuation in planetary environments, 3) use of advanced materials and structures for strong and light-weight robot arms and 4) intelligent camera-image coordinated autonomous control of robot arms for instrument placement and sample acquisition from a rover vehicle.

Exploring Planetary Analogs With an Ultracompact Near-Infrared Reflectance Instrument

NASA Astrophysics Data System (ADS)

Sobron, P.; Wang, A.

2017-12-01

Orbital reflectance spectrometers provide unique measurements of mineralogical features globally and repeatedly on planets and moons of our solar system. Mounted on landed spacecraft, reflectance sensors enable fine-scale investigations and can provide ground truth analyses to assess the validity of spectral remote sensing. We have developed a miniaturized, field-ready, active source NIR (1.14-4.76 μm) reflectance spectrometer (WIR) WIR enables in-situ, near real-time identification of water (structural or adsorbed), carbonates, sulfates, hydrated silicates, as well as C-H & N-H bonds in organic species. WIR is suited for lander/rover deployment in two modes: 1) In Traverse Survey Mode WIR is integrated into a rover wheel and performs nonstop synchronized data collection with every revolution of the wheel; large amounts of data points can be collected during a rover traverse that inform the spatial distribution of mineral phases; 2) In Point-Check Mode WIR is mounted on a robotic arm of a rover/lander and deployed on selected targets at planetary surfaces, or installed inside an analytical lab where samples from a drill/scoop are delivered for detailed analysis. Over the past 10 years we have deployed WIR in planetary analog settings, including hydrothermal springs in Svalbard (Norway) and High Andes (Chile); Arctic volcanoes in Svalbard; Arctic springs and permafrost in Axel Heiberg (Canada); Antarctic ice-covered lakes; saline playas in hyperarid deserts in the Tibetan Plateau (China) and the Atacama; high elevation ore deposits in the Andes and the Abitibi gold belt region (Canada); lava tubes in California; and acidic waters in Rio Tinto (Spain). We have recorded in-situ NIR reflectance spectra from these analogues and used improved spectral unmixing algorithms to determine the mineralogical composition at these sites. We have observed minerals consistent with sedimentary, mineralogical, morphological, and geochemical processes, some of which have been observed/predicted on other planets. In select cases, WIR data has provided critical ground truthing for remote sensing mineralogical investigations. At the Meeting, we will discuss our in-situ WIR analyses and path forward towards developing a flight version of WIR.

Lunokhod 2 - A retrospective Glance after 30 Years

NASA Astrophysics Data System (ADS)

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

2003-04-01

30 years have passed since the second Soviet research Lunokhod-2 rover landed on the Moon on January 16, 1973 within the framework of the Luna-21 mission. Scientific explorations of the lunar surface and space, begun with the Lunokhod-1 rover (1970-1971), were continued with Lunokhod-2. Creation of Lunokhod-1 and Lunokhod-2 marked realization of direction on study of planets using mobile self-propelled robots. Other direction connected with using planetary rovers to transport astronauts, scientific equipment and weights was realized as a result of creation of the American LRV lunar rover. Astronauts during Apollo-15 (1971), Apollo-15 (1972) and Apollo-15 (1972) missions used it. Programs of operation for Lunokhod-1,-2 on the Moon envisaged investigations of topographic and morphological peculiarities of the terrain, determination of the chemical composition and physical and mechanical properties of soil, experiments on the laser detection and ranging of the Moon and, etc. Successful fulfilment of programs was ensured, to a considerable extent, with the self-propelled chassis developed at VNIITRANSMASH to order of the Lavochkin Scientific and Production Association (NPOL). The chassis, on the one hand, ensured necessary cross-country ability for Lunokhod-1,-2, on the other hand, it was as the independent scientific instrument, which provided investigation as temperature measurement of the lunar surface, surface topography and craters distribution, physical and mechanical properties of soil with the special PROP instrument equipped with the penetrometer, chassis traction-cohesive characteristics, upper surface layer by a character its deformation by the mover, etc. A number of improvements of Lunokhod-2 improving its operating characteristics were performed on the basis of results of Lunokhod-1 operation. Lunokhod-1,-2 operation confirmed that automatic mobile robots can be used as effective means for studying planets and their satellites. At the same time, an operational experience of Lunokhod-1,-2, also American LRV rover, given extensive material, which as being used while developing and manufacturing chassis and their systems for new-generation planetary rovers, as well as special equipment to Earth-based tests. The present paper considers features of the Lunochod-2 design, some results of the Lunokhod-1,-2 operation on the Moon, examples of locomotion systems for new-generation rovers with the ski-walking, wheel-walking and hopping movers. A brief review of locomotion system demonstrators (IDD-1,-2, IARES, LRMC, JRover-1,-2, etc), developed at VNIITRANSMASH and Science &Technology Rover Co. Ltd. to order of ESA and foreign organizations taking part in space explorations. The locomotion systems description for the RoSA-2 project and ExoMaDeR model for "ExoMars-2009" project, developed by RCL in cooperation and to order of ESA, is given.

Health Monitoring of a Planetary Rover Using Hybrid Particle Petri Nets

NASA Technical Reports Server (NTRS)

Gaudel, Quentin; Ribot, Pauline; Chanthery, Elodie; Daigle, Matthew J.

2016-01-01

This paper focuses on the application of a Petri Net-based diagnosis method on a planetary rover prototype.The diagnosis is performed by using a model-based method in the context of health management of hybrid systems.In system health management, the diagnosis task aims at determining the current health state of a system and the fault occurrences that lead to this state. The Hybrid Particle Petri Nets (HPPN) formalism is used to model hybrid systems behavior and degradation, and to define the generation of diagnosers to monitor the health states of such systems under uncertainty. At any time, the HPPN-based diagnoser provides the current diagnosis represented by a distribution of beliefs over the health states. The health monitoring methodology is demonstrated on the K11 rover. A hybrid model of the K11 is proposed and experimental results show that the approach is robust to real system data and constraints.

Reducing software mass through behavior control. [of planetary roving robots

NASA Technical Reports Server (NTRS)

Miller, David P.

1992-01-01

Attention is given to the tradeoff between communication and computation as regards a planetary rover (both these subsystems are very power-intensive, and both can be the major driver of the rover's power subsystem, and therefore the minimum mass and size of the rover). Software techniques that can be used to reduce the requirements on both communciation and computation, allowing the overall robot mass to be greatly reduced, are discussed. Novel approaches to autonomous control, called behavior control, employ an entirely different approach, and for many tasks will yield a similar or superior level of autonomy to traditional control techniques, while greatly reducing the computational demand. Traditional systems have several expensive processes that operate serially, while behavior techniques employ robot capabilities that run in parallel. Traditional systems make extensive world models, while behavior control systems use minimal world models or none at all.

Mechanical Design and Testing of an Instrumented Rocker-Bogie Mobility System for the Kapvik Micro-Rover

NASA Astrophysics Data System (ADS)

Setterfield, T.

The rocker-bogie mobility system is a six-wheeled mobility system with the ability to equilibrate ground pressure amongst its wheels and traverse obstacles up to one wheel diameter in height; it has been used previously on NASA's Sojourner, Spirit, Opportunity and Curiosity rovers. This paper presents the mechanical design of an instrumented rocker-bogie mobility system for Kapvik, a 30 kg planetary micro-rover prototype developed for the Canadian Space Agency. The design of the wheel drive system is presented, including: motor selection, gear train selection, and performance limits. The design of a differential mechanism, which minimizes the pitch angle of the rover body, is provided. Design considerations for the integration of single-axis force sensors above the wheel hubs are presented. Structural analysis of the rocker and bogie links is outlined. The cross-hill and uphill-downhill static stability of Kapvik is investigated. Load cell and joint position data from testing during obstacle negotiation and uphill operation are presented.

Microsensors and Microinstruments for Space Science and Exploration

NASA Technical Reports Server (NTRS)

Kukkonen, C. A.; Venneri, S.

1997-01-01

Most future NASA spacecraft will be small, low cost, highly integrated vehicles using advanced technology. This will also be true of planetary rovers. In order to maintain a high scientific value to these missions, the instruments, sensors and subsystems must be dramatically miniaturized without compromising their measurement capabilities. A rover must be designed to deliver its science package. In fact, the rover should be considered as the arms, legs and/or wheels that are needed to enable a mobile integrated scientific payload.

The Walkback Test: A Study to Evaluate Suit and Life Support System Performance Requirements for a 10 Kilometer Traverse in a Planetary Suit

NASA Technical Reports Server (NTRS)

Vos, Jessica R.; Gernhardt, Michael L.; Lee, Lesley

2007-01-01

As planetary suit and planetary life support systems develop, specific design inputs for each system relate to a presently unanswered question concerning operational concepts: What distance can be considered a safe walking distance for a suited EVA crew member exploring the surface of the Moon to "walk-back" to the habitat in the event of a rover breakdown, taking into consideration the planned EVA tasks as well as the possible traverse back to the habitat? It has been assumed, based on Apollo program experience, that 10 kilometers (6.2 mi) will be the maximum EVA excursion distance from the lander or habitat to ensure the crew member s safe return to the habitat in the event of a rover failure. To investigate the feasibility of performing a suited 10 km Walkback, NASA-JSC assembled a multi-disciplinary team to design and implement the Lunar Walkback Test . The test was designed not only to determine the feasibility of a 10 km excursion, but also to collect human performance, biomedical, and biomechanical data relevant to optimizing space suit design and life support system sizing. These data will also be used to develop follow-on studies to understand interrelationships of such key parameters as suit mass, inertia, suit pressure, and center of gravity (CG), and the respective influences of each on human performance.

Microbial Ecology of a Crewed Rover Traverse in the Arctic: Low Microbial Dispersal and Implications for Planetary Protection on Human Mars Missions

NASA Technical Reports Server (NTRS)

Schuerger, Andrew C.; Lee, Pascal

2015-01-01

Between April 2009 and July 2011, the NASA Haughton-Mars Project (HMP) led the Northwest Passage Drive Expedition (NWPDX), a multi-staged long-distance crewed rover traverse along the Northwest Passage in the Arctic. In April 2009, the HMP Okarian rover was driven 496 km over sea ice along the Northwest Passage, from Kugluktuk to Cambridge Bay, Nunavut, Canada. During the traverse, crew members collected samples from within the rover and from undisturbed snow-covered surfaces around the rover at three locations. The rover samples and snow samples were stored at subzero conditions (-20C to -1C) until processed for microbial diversity in labs at the NASA Kennedy Space Center, Florida. The objective was to determine the extent of microbial dispersal away from the rover and onto undisturbed snow. Interior surfaces of the rover were found to be associated with a wide range of bacteria (69 unique taxa) and fungi (16 unique taxa). In contrast, snow samples from the upwind, downwind, uptrack, and downtrack sample sites exterior to the rover were negative for both bacteria and fungi except for two colony-forming units (cfus) recovered from one downwind (1 cfu; site A4) and one uptrack (1 cfu; site B6) sample location. The fungus, Aspergillus fumigatus (GenBank JX517279), and closely related bacteria in the genus Brevibacillus were recovered from both snow (B. agri, GenBank JX517278) and interior rover surfaces. However, it is unknown whether the microorganisms were deposited onto snow surfaces at the time of sample collection (i.e., from the clothing or skin of the human operator) or via airborne dispersal from the rover during the 12-18 h layovers at the sites prior to collection. Results support the conclusion that a crewed rover traveling over previously undisturbed terrain may not significantly contaminate the local terrain via airborne dispersal of propagules from the vehicle. Key Words: Planetary protection-Contamination-Habitability-Haughton Crater-Mars. Astrobiology 15, 478-491.

Microbial Ecology of a Crewed Rover Traverse in the Arctic: Low Microbial Dispersal and Implications for Planetary Protection on Human Mars Missions

PubMed Central

Lee, Pascal

2015-01-01

Abstract Between April 2009 and July 2011, the NASA Haughton-Mars Project (HMP) led the Northwest Passage Drive Expedition (NWPDX), a multi-staged long-distance crewed rover traverse along the Northwest Passage in the Arctic. In April 2009, the HMP Okarian rover was driven 496 km over sea ice along the Northwest Passage, from Kugluktuk to Cambridge Bay, Nunavut, Canada. During the traverse, crew members collected samples from within the rover and from undisturbed snow-covered surfaces around the rover at three locations. The rover samples and snow samples were stored at subzero conditions (−20°C to −1°C) until processed for microbial diversity in labs at the NASA Kennedy Space Center, Florida. The objective was to determine the extent of microbial dispersal away from the rover and onto undisturbed snow. Interior surfaces of the rover were found to be associated with a wide range of bacteria (69 unique taxa) and fungi (16 unique taxa). In contrast, snow samples from the upwind, downwind, uptrack, and downtrack sample sites exterior to the rover were negative for both bacteria and fungi except for two colony-forming units (cfus) recovered from one downwind (1 cfu; site A4) and one uptrack (1 cfu; site B6) sample location. The fungus, Aspergillus fumigatus (GenBank JX517279), and closely related bacteria in the genus Brevibacillus were recovered from both snow (B. agri, GenBank JX517278) and interior rover surfaces. However, it is unknown whether the microorganisms were deposited onto snow surfaces at the time of sample collection (i.e., from the clothing or skin of the human operator) or via airborne dispersal from the rover during the 12–18 h layovers at the sites prior to collection. Results support the conclusion that a crewed rover traveling over previously undisturbed terrain may not significantly contaminate the local terrain via airborne dispersal of propagules from the vehicle. Key Words: Planetary protection—Contamination—Habitability—Haughton Crater—Mars. Astrobiology 15, 478–491. PMID:26060984

Airbag retraction

NASA Technical Reports Server (NTRS)

1997-01-01

This image shows that the Mars Pathfinder airbags have been successfully retracted, allowing safe deployment of the rover ramps. The Sojourner rover is at lower right, and rocks are visible in the background. Mars Pathfinder landed successfully on the surface of Mars today at 10:07 a.m. PDT.

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is an operating division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

Sojourner's APXS at Shark

NASA Technical Reports Server (NTRS)

1997-01-01

The Sojourner rover is seen next to the rock 'Shark', in this image taken by the Imager for Mars Pathfinder (IMP) near the end of daytime operations on Sol 52. The rover's Alpha Proton X-Ray Spectrometer is deployed against the rock. The rock 'Wedge' is in the foreground.

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is a division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

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.

A Compact Instrument for Remote Raman and Fluorescence Measurements to a Radial Distance of 100 m

NASA Technical Reports Server (NTRS)

Sharma, S. K.; Misra, A. K.; Lucey, P. g.; McKay, C. P.

2005-01-01

Compact remote spectroscopic instruments that could provide detailed information about mineralogy, organic and biomaterials on a planetary surface over a relatively large area are desirable for NASA s planetary exploration program. Ability to explore a large area on the planetary surfaces as well as in impact craters from a fixed location of a rover or lander will enhance the probability of selecting target rocks of high scientific contents as well as desirable sites in search of organic compounds and biomarkers on Mars and other planetary bodies. We have developed a combined remote inelastic scattering (Raman) and laser-induced fluorescence emission (LIFE) compact instrument capable of providing accurate information about minerals, organic and biogenic materials to a radial distance of 100 m. Here we present the Raman and LIFE (R-LIFE) data set.

Mission-directed path planning for planetary rover exploration

NASA Astrophysics Data System (ADS)

Tompkins, Paul

2005-07-01

Robotic rovers uniquely benefit planetary exploration---they enable regional exploration with the precision of in-situ measurements, a combination impossible from an orbiting spacecraft or fixed lander. Mission planning for planetary rover exploration currently utilizes sophisticated software for activity planning and scheduling, but simplified path planning and execution approaches tailored for localized operations to individual targets. This approach is insufficient for the investigation of multiple, regionally distributed targets in a single command cycle. Path planning tailored for this task must consider the impact of large scale terrain on power, speed and regional access; the effect of route timing on resource availability; the limitations of finite resource capacity and other operational constraints on vehicle range and timing; and the mutual influence between traverses and upstream and downstream stationary activities. Encapsulating this reasoning in an efficient autonomous planner would allow a rover to continue operating rationally despite significant deviations from an initial plan. This research presents mission-directed path planning that enables an autonomous, strategic reasoning capability for robotic explorers. Planning operates in a space of position, time and energy. Unlike previous hierarchical approaches, it treats these dimensions simultaneously to enable globally-optimal solutions. The approach calls on a near incremental search algorithm designed for planning and re-planning under global constraints, in spaces of higher than two dimensions. Solutions under this method specify routes that avoid terrain obstacles, optimize the collection and use of rechargable energy, satisfy local and global mission constraints, and account for the time and energy of interleaved mission activities. Furthermore, the approach efficiently re-plans in response to updates in vehicle state and world models, and is well suited to online operation aboard a robot. Simulations exhibit that the new methodology succeeds where conventional path planners would fail. Three planetary-relevant field experiments demonstrate the power of mission-directed path planning in directing actual exploration robots. Offline mission-directed planning sustained a solar-powered rover in a 24-hour sun-synchronous traverse. Online planning and re-planning enabled full navigational autonomy of over 1 kilometer, and supported the execution of science activities distributed over hundreds of meters.

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.

Simulating Sand Behavior through Terrain Subdivision and Particle Refinement

NASA Astrophysics Data System (ADS)

Clothier, M.

2013-12-01

Advances in computer graphics, GPUs, and parallel processing hardware have provided researchers with new methods to visualize scientific data. In fact, these advances have spurred new research opportunities between computer graphics and other disciplines, such as Earth sciences. Through collaboration, Earth and planetary scientists have benefited by using these advances in hardware technology to process large amounts of data for visualization and analysis. At Oregon State University, we are collaborating with the Oregon Space Grant and IGERT Ecosystem Informatics programs to investigate techniques for simulating the behavior of sand. In addition, we have also been collaborating with the Jet Propulsion Laboratory's DARTS Lab to exchange ideas on our research. The DARTS Lab specializes in the simulation of planetary vehicles, such as the Mars rovers. One aspect of their work is testing these vehicles in a virtual "sand box" to test their performance in different environments. Our research builds upon this idea to create a sand simulation framework to allow for more complex and diverse environments. As a basis for our framework, we have focused on planetary environments, such as the harsh, sandy regions on Mars. To evaluate our framework, we have used simulated planetary vehicles, such as a rover, to gain insight into the performance and interaction between the surface sand and the vehicle. Unfortunately, simulating the vast number of individual sand particles and their interaction with each other has been a computationally complex problem in the past. However, through the use of high-performance computing, we have developed a technique to subdivide physically active terrain regions across a large landscape. To achieve this, we only subdivide terrain regions where sand particles are actively participating with another object or force, such as a rover wheel. This is similar to a Level of Detail (LOD) technique, except that the density of subdivisions are determined by their proximity to the interacting object or force with the sand. To illustrate an example, as a rover wheel moves forward and approaches a particular sand region, that region will continue to subdivide until individual sand particles are represented. Conversely, if the rover wheel moves away, previously subdivided sand regions will recombine. Thus, individual sand particles are available when an interacting force is present but stored away if there is not. As such, this technique allows for many particles to be represented without the computational complexity. We have also further generalized these subdivision regions in our sand framework into any volumetric area suitable for use in the simulation. This allows for more compact subdivision regions and has fine-tuned our framework so that more emphasis can be placed on regions of actively participating sand. We feel that this increases the framework's usefulness across scientific applications and can provide for other research opportunities within the earth and planetary sciences. Through continued collaboration with our academic partners, we continue to build upon our sand simulation framework and look for other opportunities to utilize this research.

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.

Robotic astrobiology - prospects for enhancing scientific productivity of mars rover missions

NASA Astrophysics Data System (ADS)

Ellery, A. A.

2018-07-01

Robotic astrobiology involves the remote projection of intelligent capabilities to planetary missions in the search for life, preferably with human-level intelligence. Planetary rovers would be true human surrogates capable of sophisticated decision-making to enhance their scientific productivity. We explore several key aspects of this capability: (i) visual texture analysis of rocks to enable their geological classification and so, astrobiological potential; (ii) serendipitous target acquisition whilst on the move; (iii) continuous extraction of regolith properties, including water ice whilst on the move; and (iv) deep learning-capable Bayesian net expert systems. Individually, these capabilities will provide enhanced scientific return for astrobiology missions, but together, they will provide full autonomous science capability.

In-Situ Pointing Correction and Rover Microlocalization

NASA Technical Reports Server (NTRS)

Deen, Robert G.; Lorre, Jean J.

2010-01-01

Two software programs, marstie and marsnav, work together to generate pointing corrections and rover micro-localization for in-situ images. The programs are based on the PIG (Planetary Image Geometry) library, which handles all mission dependencies. As a result, there is no mission-specific code in either of these programs. This software corrects geometric seams in images as much as possible.

GIS Methodology for Planning Planetary-Rover Operations

NASA Technical Reports Server (NTRS)

Powell, Mark; Norris, Jeffrey; Fox, Jason; Rabe, Kenneth; Shu, I-Hsiang

2007-01-01

A document describes a methodology for utilizing image data downlinked from cameras aboard a robotic ground vehicle (rover) on a remote planet for analyzing and planning operations of the vehicle and of any associated spacecraft. Traditionally, the cataloging and presentation of large numbers of downlinked planetary-exploration images have been done by use of two organizational methods: temporal organization and correlation between activity plans and images. In contrast, the present methodology involves spatial indexing of image data by use of the computational discipline of geographic information systems (GIS), which has been maturing in terrestrial applications for decades, but, until now, has not been widely used in support of exploration of remote planets. The use of GIS to catalog data products for analysis is intended to increase efficiency and effectiveness in planning rover operations, just as GIS has proven to be a source of powerful computational tools in such terrestrial endeavors as law enforcement, military strategic planning, surveying, political science, and epidemiology. The use of GIS also satisfies the need for a map-based user interface that is intuitive to rover-activity planners, many of whom are deeply familiar with maps and know how to use them effectively in field geology.

Procedures for the interpretation and use of elevation scanning laser/multi-sensor data for short range hazard detection and avoidance for an autonomous planetary rover

NASA Technical Reports Server (NTRS)

Troiani, N.; Yerazunis, S. W.

1978-01-01

An autonomous roving science vehicle that relies on terrain data acquired by a hierarchy of sensors for navigation was one method of carrying out such a mission. The hierarchy of sensors included a short range sensor with sufficient resolution to detect every possible obstacle and with the ability to make fast and reliable terrain characterizations. A multilaser, multidetector triangulation system was proposed as a short range sensor. The general system was studied to determine its perception capabilities and limitations. A specific rover and low resolution sensor system was then considered. After studying the data obtained, a hazard detection algorithm was developed that accounts for all possible terrains given the sensor resolution. Computer simulation of the rover on various terrains was used to test the entire hazard detection system.

The Close-Up Imager Onboard the ESA ExoMars Rover: Objectives, Description, Operations, and Science Validation Activities.

PubMed

Josset, Jean-Luc; Westall, Frances; Hofmann, Beda A; Spray, John; Cockell, Charles; Kempe, Stephan; Griffiths, Andrew D; De Sanctis, Maria Cristina; Colangeli, Luigi; Koschny, Detlef; Föllmi, Karl; Verrecchia, Eric; Diamond, Larryn; Josset, Marie; Javaux, Emmanuelle J; Esposito, Francesca; Gunn, Matthew; Souchon-Leitner, Audrey L; Bontognali, Tomaso R R; Korablev, Oleg; Erkman, Suren; Paar, Gerhard; Ulamec, Stephan; Foucher, Frédéric; Martin, Philippe; Verhaeghe, Antoine; Tanevski, Mitko; Vago, Jorge L

The Close-Up Imager (CLUPI) onboard the ESA ExoMars Rover is a powerful high-resolution color camera specifically designed for close-up observations. Its accommodation on the movable drill allows multiple positioning. The science objectives of the instrument are geological characterization of rocks in terms of texture, structure, and color and the search for potential morphological biosignatures. We present the CLUPI science objectives, performance, and technical description, followed by a description of the instrument's planned operations strategy during the mission on Mars. CLUPI will contribute to the rover mission by surveying the geological environment, acquiring close-up images of outcrops, observing the drilling area, inspecting the top portion of the drill borehole (and deposited fines), monitoring drilling operations, and imaging samples collected by the drill. A status of the current development and planned science validation activities is also given. Key Words: Mars-Biosignatures-Planetary Instrumentation. Astrobiology 17, 595-611.

Method for remotely powering a device such as a lunar rover

NASA Technical Reports Server (NTRS)

Deyoung, Russell J. (Inventor); Williams, Michael D. (Inventor); Walker, Gilbert H. (Inventor); Schuster, Gregory L. (Inventor); Lee, Ja H. (Inventor)

1993-01-01

A method of supplying power to a device such as a lunar rover located on a planetary surface is provided. At least one, and preferably three, laser satellites are set in orbit around the planet. Each satellite contains a nuclear reactor for generating electrical power. This electrical power is converted into a laser beam which is passed through an amplifying array and directed toward the device such as a lunar rover. The received laser beam is then converted into electrical power for use by the device.

RESOLVE: Regolith and Environment Science and Oxygen and Lunar Volatile Extraction

NASA Technical Reports Server (NTRS)

Quinn, Jacqueline; Baird, Scott; Colaprete, Anthony; Larson, William; Sanders, Gerald; Picard, Martin

2011-01-01

Regolith & Environment Science and Oxygen & Lunar Volatile Extraction (RESOLVE) is an internationally developed payload that is intended to prospect for resources on other planetary bodies. RESOLVE is a miniature drilling and chemistry plant packaged onto a medium-sized rover to collect and analyze soil for volatile components such as water or hydrogen that could be used in human exploration efforts.

ACD16-0001-018

NASA Image and Video Library

2016-01-06

This Nissan LEAF vehicle being tested on the Ames campus is equipped with cameras, sensors and cellular data networking, and uses robotics software originally developed for Ames’ K-10 and K-REX planetary rovers to operate autonomously. Shown here are Kathy Sun and Liam Pedersen, Nissan who are awaiting the arrival of the visiting group from Renault-Nissan Alliance for a demo ride across Ames.

Software Tool for Computing Maximum Von Mises Stress

NASA Technical Reports Server (NTRS)

Chen, Long Y.; Knutson, Kurt; Martin, Eric

2007-01-01

The maximum Van Mises stress and stress direction are of interest far analyzing launch accelerations such as with the Mass Acceleration Curves developed by JPL. Maximum launch stresses can be combined with appropriate load cases at consistent locations with resulting stress tensors. Maximum Van Mises stress is also of interest for understanding maximum operational loading such as traverse events. - For example, planetary traversing simulations may prescribe bounding acceleration values during traverse for a rover such as Mars Science Lab (MSL) in (X,Y,Z) of the rover. - Such accelerations can be really in any directions for many parts such as a mast or head mounted components which can be in numerous configurations and orientations when traversing a planet surface.

Planetary Geochemistry Techniques: Probing In-Situ with Neutron and Gamma Rays (PING) Instrument

NASA Technical Reports Server (NTRS)

Parsons, A.; Bodnarik, J.; Burger, D.; Evans, L.; Floyd, S.; Lin, L.; McClanahan, T.; Nankung, M.; Nowicki, S.; Schweitzer, J.;

The development of a virtual camera system for astronaut-rover planetary exploration.

PubMed

Platt, Donald W; Boy, Guy A

2012-01-01

A virtual assistant is being developed for use by astronauts as they use rovers to explore the surface of other planets. This interactive database, called the Virtual Camera (VC), is an interactive database that allows the user to have better situational awareness for exploration. It can be used for training, data analysis and augmentation of actual surface exploration. This paper describes the development efforts and Human-Computer Interaction considerations for implementing a first-generation VC on a tablet mobile computer device. Scenarios for use will be presented. Evaluation and success criteria such as efficiency in terms of processing time and precision situational awareness, learnability, usability, and robustness will also be presented. Initial testing and the impact of HCI design considerations of manipulation and improvement in situational awareness using a prototype VC will be discussed.

Airbag retraction

NASA Technical Reports Server (NTRS)

1997-01-01

This image shows that the Mars Pathfinder airbags have been successfully retracted, allowing safe deployment of the rover ramps. The Sojourner rover, still in its deployed position, is at center image, and rocks are visible in the background. Mars Pathfinder landed successfully on the surface of Mars today at 10:07 a.m. PDT.

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is an operating division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

Reasoning with inaccurate spatial knowledge. [for Planetary Rover

NASA Technical Reports Server (NTRS)

Doshi, Rajkumar S.; White, James E.; Lam, Raymond; Atkinson, David J.

1988-01-01

This paper describes work in progress on spatial planning for a semiautonomous mobile robot vehicle. The overall objective is to design a semiautonomous rover to plan routes in unknown, natural terrains. The approach to spatial planning involves deduction of common-sense spatial knowledge using geographical information, natural terrain representations, and assimilation of new and possibly conflicting terrain information. This report describes the ongoing research and implementation.

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.

Lithium-Ion Battery Program Status

NASA Technical Reports Server (NTRS)

Surampudi, S.; Huang, C. K.; Smart, M.; Davies, E.; Perrone, D.; Distefano, S.; Halpert, G.

1996-01-01

The objective of this program is to develop rechargeable Li-ion cells for future NASA missions. Applications that would benefit from this project are: new millenium spacecraft; rovers; landers; astronaut equipment; and planetary orbiters. The approach of this program is: select electrode materials and electrolytes; identify failure modes and mechanisms and enhance cycle life; demonstrate Li-ion cell technology with liquid electrolyte; select candidate polymer electrolytes for Li-ion polymer cells; and develop Li-ion polymer cell technology.

Lightweight Modular Instrumentation for Planetary Applications

NASA Technical Reports Server (NTRS)

Joshi, P. B.

1993-01-01

An instrumentation, called Space Active Modular Materials ExperimentS (SAMMES), is developed for monitoring the spacecraft environment and for accurately measuring the degradation of space materials in low earth orbit (LEO). The SAMMES architecture concept can be extended to instrumentation for planetary exploration, both on spacecraft and in situ. The operating environment for planetary application will be substantially different, with temperature extremes and harsh solar wind and cosmic ray flux on lunar surfaces and temperature extremes and high winds on venusian and Martian surfaces. Moreover, instruments for surface deployment, which will be packaged in a small lander/rover (as in MESUR, for example), must be extremely compact with ultralow power and weight. With these requirements in mind, the SAMMES concept was extended to a sensor/instrumentation scheme for the lunar and Martian surface environment.

Crew/Robot Coordinated Planetary EVA Operations at a Lunar Base Analog Site

NASA Technical Reports Server (NTRS)

Diftler, M. A.; Ambrose, R. O.; Bluethmann, W. J.; Delgado, F. J.; Herrera, E.; Kosmo, J. J.; Janoiko, B. A.; Wilcox, B. H.; Townsend, J. A.; Matthews, J. B.;

Integrated system for single leg walking

NASA Astrophysics Data System (ADS)

Simmons, Reid; Krotkov, Eric; Roston, Gerry

1990-07-01

The Carnegie Mellon University Planetary Rover project is developing a six-legged walking robot capable of autonomously navigating, exploring, and acquiring samples in rugged, unknown environments. This report describes an integrated software system capable of navigating a single leg of the robot over rugged terrain. The leg, based on an early design of the Ambler Planetary Rover, is suspended below a carriage that slides along rails. To walk, the system creates an elevation map of the terrain from laser scanner images, plans an appropriate foothold based on terrain and geometric constraints, weaves the leg through the terrain to position it above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed hundreds of meters of rugged terrain including obstacles too tall to step over, trenches too deep to step in, closely spaced obstacles, and sand hills. The implemented system consists of a number of task-specific processes (two for planning, two for perception, one for real-time control) and a central control process that directs the flow of communication between processes.

Conducting Planetary Field Geology on EVA: Lessons from the 2010 DRATS Geologist Crewmembers

NASA Technical Reports Server (NTRS)

Young, Kelsey E.; Bleacher, J. E.; Hurtado, J. M., Jr.; Rice, J.; Garry, W. B.; Eppler, D.

2011-01-01

In order to prepare for the next phase of planetary surface exploration, the Desert Research and Technology Studies (DRATS) field program seeks to test the next generation of technology needed to explore other surfaces. The 2010 DRATS 14-day field campaign focused on the simultaneous operation of two habitatable rovers, or Space Exploration Vehicles (SEVs). Each rover was crewed by one astronaut/commander and one geologist, with a change in crews on day seven of the mission. This shift change allowed for eight crew members to test the DRATS technology and operational protocols [1,2]. The insights presented in this abstract represent the crew s thoughts on lessons learned from this field season, as well as potential future testing concepts.

ExoMars Raman laser spectrometer overview

NASA Astrophysics Data System (ADS)

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

2010-09-01

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

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.

Volume Measurements of Laser-generated Pits for in Situ Geochronology Using KArLE (Potassium-Argon Laser Experiment)

NASA Technical Reports Server (NTRS)

French, R. A.; Cohen, B. A.; Miller, J. S.

2014-01-01

KArLE (Potassium-­-Argon Laser Experiment) has been developed for in situ planetary geochronology using the K - Ar (potassium-­-argon) isotope system, where material ablated by LIBS (Laser-­-Induced Breakdown Spectroscopy) is used to calculate isotope abundances. We are determining the accuracy and precision of volume measurements of these pits using stereo and laser microscope data to better understand the ablation process for isotope abundance calculations. If a characteristic volume can be determined with sufficient accuracy and precision for specific rock types, KArLE will prove to be a useful instrument for future planetary rover missions.

What Time is it on Mars?

NASA Technical Reports Server (NTRS)

2004-01-01

This image of the martian sundial onboard the Mars Exploration Rover Spirit was processed by students in the Red Rover Goes to Mars program to impose hour markings on the face of the dial. The position of the shadow of the sundial's post within the markings indicates the time of day and the season, which in this image is 12:17 p.m. local solar time, late summer. A team of 16 students from 12 countries were selected by the Planetary Society to participate in this program. This image was taken on Mars by the rover's panoramic camera.

Curiosity Rover's First Anniversary

NASA Image and Video Library

2013-08-06

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

Curiosity Rover's First Anniversary

NASA Image and Video Library

2013-08-06

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

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.

Electrical power technology for robotic planetary rovers

NASA Technical Reports Server (NTRS)

Bankston, C. P.; Shirbacheh, M.; Bents, D. J.; Bozek, J. M.

1993-01-01

Power technologies which will enable a range of robotic rover vehicle missions by the end of the 1990s and beyond are discussed. The electrical power system is the most critical system for reliability and life, since all other on board functions (mobility, navigation, command and data, communications, and the scientific payload instruments) require electrical power. The following are discussed: power generation, energy storage, power management and distribution, and thermal management.

Sojourner near the Rock Garden

NASA Technical Reports Server (NTRS)

1997-01-01

This image of the Sojourner rover was taken near the end of daytime operations on Sol 42. The rover is between the rocks 'Wedge' (left) and 'Flute Top' (right). Other rocks visible include 'Flat Top' (behind Flute Top) and those in the Rock Garden, at the top of the frame. The cylindrical object extending from the back end of Sojourner is the Alpha Proton X-Ray Spectrometer.

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is a division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

Yogi the rock

NASA Technical Reports Server (NTRS)

1997-01-01

Yogi, a rock taller than rover Sojourner, is the subject of this image, taken by the deployed Imager for Mars Pathfinder (IMP) on Sol 3. The soil in the foreground will be the location of multiple soil mechanics experiments performed by Sojourner's cleated wheels. Pathfinder scientists will be able to control the force inflicted on the soil beneath the rover's wheels, giving them insight into the soil's mechanical properties.

The image was taken by the Imager for Mars Pathfinder (IMP) after its deployment on Sol 3. Mars Pathfinder was developed and managed by the Jet Propulsion Laboratory (JPL) for the National Aeronautics and Space Administration. JPL is an operating division of the California Institute of Technology (Caltech). The IMP was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

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.

Mimicking Martian dust: An in-vacuum dust deposition system for testing the ultraviolet sensors on the Curiosity rover.

PubMed

Sobrado, J M; Martín-Soler, J; Martín-Gago, J A

2015-10-01

We have designed and developed an in-vacuum dust deposition system specifically conceived to simulate and study the effect of accumulation of Martian dust on the electronic instruments of scientific planetary exploration missions. We have used this device to characterize the dust effect on the UV sensor of the Rover Environmental Monitoring Station in the Mars science Laboratory mission of NASA in similar conditions to those found on Mars surface. The UV sensor includes six photodiodes for measuring the radiation in all UV wavelengths (direct incidence and reflected); it is placed on the body of Curiosity rover and it is severely affected by the dust deposited on it. Our experimental setup can help to estimate the duration of reliable reading of this instrument during operation. We have used an analogous of the Martian dust in chemical composition (magnetic species), color, and density, which has been characterized by X-ray spectroscopy. To ensure a Brownian motion of the dust during its fall and a homogeneous coverage on the instrumentation, the operating conditions of the vacuum vessel, determined by partial pressures and temperature, have to be modified to account for the different gravities of Mars with respect to Earth. We propose that our designed device and operational protocol can be of interest to test optoelectronic instrumentation affected by the opacity of dust, as can be the degradation of UV photodiodes in planetary exploration.

Mimicking Martian dust: An in-vacuum dust deposition system for testing the ultraviolet sensors on the Curiosity rover

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

Sobrado, J. M., E-mail: sobradovj@inta.es; Martín-Soler, J.; Martín-Gago, J. A.

We have designed and developed an in-vacuum dust deposition system specifically conceived to simulate and study the effect of accumulation of Martian dust on the electronic instruments of scientific planetary exploration missions. We have used this device to characterize the dust effect on the UV sensor of the Rover Environmental Monitoring Station in the Mars science Laboratory mission of NASA in similar conditions to those found on Mars surface. The UV sensor includes six photodiodes for measuring the radiation in all UV wavelengths (direct incidence and reflected); it is placed on the body of Curiosity rover and it is severelymore » affected by the dust deposited on it. Our experimental setup can help to estimate the duration of reliable reading of this instrument during operation. We have used an analogous of the Martian dust in chemical composition (magnetic species), color, and density, which has been characterized by X-ray spectroscopy. To ensure a Brownian motion of the dust during its fall and a homogeneous coverage on the instrumentation, the operating conditions of the vacuum vessel, determined by partial pressures and temperature, have to be modified to account for the different gravities of Mars with respect to Earth. We propose that our designed device and operational protocol can be of interest to test optoelectronic instrumentation affected by the opacity of dust, as can be the degradation of UV photodiodes in planetary exploration.« less

Mobile Geochemistry Instrument Package Facility (MGIPF) for In Situ Mineralogical and Chemical Analysis of Planetary Surface Material

NASA Astrophysics Data System (ADS)

Klingelhöfer, G.; Romstedt, J.; Henkel, H.; Michaelis, H.; Brückner, J.; D'Uston, C.

A first order requirement for any spacecraft mission to land on a solid planetary or moon surface is instrumentation for in-situ mineralogical and chemical analysis 2 Such analysis provide data needed for primary classification and characterization of surface materials present We will discuss a mobile instrument package we have developed for in-situ investigations under harsh environmental conditions like on Mercury or Mars This Geochemistry Instrument Package Facility is a compact box also called payload cab containing three small advanced geochemistry mineralogy instruments the chemical spectrometer APXS the mineralogical M o ssbauer spectrometer MIMOS II 3 and a textural imager close-up camera The payload cab is equipped with two actuating arms with two degrees of freedom permitting precision placement of all instruments at a chosen sample This payload cab is the central part of the small rover Nanokhod which has the size of a shoebox 1 The Nanokhod rover is a tethered system with a typical operational range of sim 100 m Of course the payload cab itself can be attached by means of its arms to any deployment device of any other rover or deployment device 1 Andre Schiele Jens Romstedt Chris Lee Sabine Klinkner Rudi Rieder Ralf Gellert G o star Klingelh o fer Bodo Bernhardt Harald Michaelis The new NANOKHOD Engineeering model for extreme cold environments 8th International symposium on Artificial Intelligence Robotics and Automation in Space 5 - 9 September 2005

Environmental Test Program for the Mars Exploration Rover Project

NASA Technical Reports Server (NTRS)

Fisher, Terry C.; VanVelzer, Paul L.

2004-01-01

On June 10 and July 7, 2003 the National Aeronautics and Space Administration (NASA) launched two spacecraft from Cape Canaveral, Florida for a six (6) months flight to the Red Planet, Mars. The two Mars Exploration Rover spacecraft landed safely on the planet in January 2004. Prior to the successful launch, both of the spacecraft were involved in a comprehensive test campaign that included development, qualification, and protoflight test programs. Testing was performed to simulate the environments associated with launch, inter-planetary cruise, landing on the planet and Mars surface operations. Unique test requirements included operating the spacecraft while the chamber pressure was controlled to simulate the decent to the planet from deep space, high impact landing loads and rover operations on the surface of the planet at 8 Torr and -130 C. This paper will present an overview of the test program that included vibration, pyro-shock, landing loads, acoustic noise, thermal vacuum and solar simulation testing at the Jet Propulsion Laboratory (JPL) Environmental Test Laboratory facilities in Pasadena, California.

The Electrostatic Environments of Mars and the Moon

NASA Technical Reports Server (NTRS)

Calle, Carlos I.

2011-01-01

The electrical activity present in the environment near the surfaces of Mars and the moon has very different origins and presents a challenge to manned and robotic planetary exploration missions. Mars is covered with a layer of dust that has been redistributed throughout the entire planet by global dust storms. Dust, levitated by these storms as well as by the frequent dust devils, is expected to be electrostatically charged due to the multiple grain collisions in the dust-laden atmosphere. Dust covering the surface of the moon is expected to be electrostatically charged due to the solar wind, cosmic rays, and the solar radiation itself through the photoelectric effect. Electrostatically charged dust has a large tendency to adhere to surfaces. NASA's Mars exploration rovers have shown that atmospheric dust falling on solar panels can decrease their efficiency to the point of rendering the rover unusable. And as the Apollo missions to the moon showed, lunar dust adhesion can hinder manned and unmanned lunar exploration activities. Taking advantage of the electrical activity on both planetary system bodies, dust removal technologies are now being developed that use electrostatic and dielectrophoretic forces to produce controlled dust motion. This paper presents a short review of the theoretical and semiempirical models that have been developed for the lunar and Martian electrical environments.

AIAA Educator Academy - Mars Rover Curriculum: A 6 week multidisciplinary space science based curriculum

NASA Astrophysics Data System (ADS)

Henriquez, E.; Bering, E. A.; Slagle, E.; Nieser, K.; Carlson, C.; Kapral, A.

2013-12-01

The Curiosity mission has captured the imagination of children, as NASA missions have done for decades. The AIAA and the University of Houston have developed a flexible curriculum program that offers children in-depth science and language arts learning culminating in the design and construction of their own model rover. The program is called the Mars Rover Model Celebration. It focuses on students, teachers and parents in grades 3-8. Students learn to research Mars in order to pick a science question about Mars that is of interest to them. They learn principles of spacecraft design in order to build a model of a Mars rover to carry out their mission on the surface of Mars. The model is a mock-up, constructed at a minimal cost from art supplies. This project may be used either informally as an after school club or youth group activity or formally as part of a class studying general science, earth science, solar system astronomy or robotics, or as a multi-disciplinary unit for a gifted and talented program. The project's unique strength lies in engaging students in the process of spacecraft design and interesting them in aerospace engineering careers. The project is aimed at elementary and secondary education. Not only will these students learn about scientific fields relevant to the mission (space science, physics, geology, robotics, and more), they will gain an appreciation for how this knowledge is used to tackle complex problems. The low cost of the event makes it an ideal enrichment vehicle for low income schools. It provides activities that provide professional development to educators, curricular support resources using NASA Science Mission Directorate (SMD) content, and provides family opportunities for involvement in K-12 student learning. This paper will describe the structure and organization of the 6 week curriculum. A set of 30 new 5E lesson plans have been written to support this project as a classroom activity. The challenge of developing interactive learning activities for planetary science will be explored. These lesson plans incorporate state of the art interactive pedagogy and current NASA Planetary Science materials.

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.

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.

Special Software for Planetary Image Processing and Research

NASA Astrophysics Data System (ADS)

Zubarev, A. E.; Nadezhdina, I. E.; Kozlova, N. A.; Brusnikin, E. S.; Karachevtseva, I. P.

2016-06-01

The special modules of photogrammetric processing of remote sensing data that provide the opportunity to effectively organize and optimize the planetary studies were developed. As basic application the commercial software package PHOTOMOD™ is used. Special modules were created to perform various types of data processing: calculation of preliminary navigation parameters, calculation of shape parameters of celestial body, global view image orthorectification, estimation of Sun illumination and Earth visibilities from planetary surface. For photogrammetric processing the different types of data have been used, including images of the Moon, Mars, Mercury, Phobos, Galilean satellites and Enceladus obtained by frame or push-broom cameras. We used modern planetary data and images that were taken over the years, shooting from orbit flight path with various illumination and resolution as well as obtained by planetary rovers from surface. Planetary data image processing is a complex task, and as usual it can take from few months to years. We present our efficient pipeline procedure that provides the possibilities to obtain different data products and supports a long way from planetary images to celestial body maps. The obtained data - new three-dimensional control point networks, elevation models, orthomosaics - provided accurate maps production: a new Phobos atlas (Karachevtseva et al., 2015) and various thematic maps that derived from studies of planetary surface (Karachevtseva et al., 2016a).

Space Telerobotics and Rover Research at JPL

NASA Technical Reports Server (NTRS)

Weisbin, C.; Hayati, S.; Rodriguez, G.

1995-01-01

The goal of our program is to develop, integrate and demonstrate the science and technology of remote telerobotics leading to increases in operational capability, safety, cost effectiveness and probability of success of NASA missions. To that end, the program fosters the development of innovative system concepts for on-orbit servicing and planetary surface missions which use telerobotic systems as an important central component. These concepts are carried forward into develoments which are used to evaluate and demonstrate technology in realistic flight and ground experiments.

Mars Pathfinder Microrover- Implementing a Low Cost Planetary Mission Experiment

NASA Technical Reports Server (NTRS)

Matijevic, J.

1996-01-01

The Mars Pathfinder Microrover Flight Experiment (MFEX) is a NASA Office of Space Access and Technology (OSAT) flight experiment which has been delivered and integrated with the Mars Pathfinder (MPF) lander and spacecraft system. The total cost of the MFEX mission, including all subsystem design and development, test, integration with the MPF lander and operations on Mars has been capped at $25 M??is paper discusses the process and the implementation scheme which has resulted in the development of this first Mars rover.

ARC-2008-ACD08-0260-007

NASA Image and Video Library

2008-11-05

K-10 'Red' planetary rover in the Nasa Ames Marscape: operations tests at Marscape (Ames Mars Yard) with remote operations from Ames Future Flight Centeral (FFC) Simulator with Susan Y. Lee observing.

Lunar and Planetary Science XXXV: Meteorites to and from the Moon and Mars: My Planet or Yours?

NASA Technical Reports Server (NTRS)

2004-01-01

The titles in this section include: 1) Meteorites from Mars - Constraints from Numerical Modeling; 2) Iron Oxidation Products in Martian Ordinary Chondrite Finds as Possible Indicators of Liquid Water Exposure at Mars Exploration Rover Landings Sites; 3) Meteorites on Mars; 4) Sulfide Stability of Planetary Basalts; 5) Exposure and Terrestrial Histories of New Lunar and Martian Meteorites.

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

NASA Astrophysics Data System (ADS)

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

2001-07-01

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

NEWTON - NEW portable multi-sensor scienTific instrument for non-invasive ON-site characterization of rock from planetary surface and sub-surfaces

NASA Astrophysics Data System (ADS)

Díaz-Michelena, M.; de Frutos, J.; Ordóñez, A. A.; Rivero, M. A.; Mesa, J. L.; González, L.; Lavín, C.; Aroca, C.; Sanz, M.; Maicas, M.; Prieto, J. L.; Cobos, P.; Pérez, M.; Kilian, R.; Baeza, O.; Langlais, B.; Thébault, E.; Grösser, J.; Pappusch, M.

2017-09-01

In space instrumentation, there is currently no instrument dedicated to susceptibly or complete magnetization measurements of rocks. Magnetic field instrument suites are generally vector (or scalar) magnetometers, which locally measure the magnetic field. When mounted on board rovers, the electromagnetic perturbations associated with motors and other elements make it difficult to reap the benefits from the inclusion of such instruments. However, magnetic characterization is essential to understand key aspects of the present and past history of planetary objects. The work presented here overcomes the limitations currently existing in space instrumentation by developing a new portable and compact multi-sensor instrument for ground breaking high-resolution magnetic characterization of planetary surfaces and sub-surfaces. This new technology introduces for the first time magnetic susceptometry (real and imaginary parts) as a complement to existing compact vector magnetometers for planetary exploration. This work aims to solve the limitations currently existing in space instrumentation by means of providing a new portable and compact multi-sensor instrument for use in space, science and planetary exploration to solve some of the open questions on the crustal and more generally planetary evolution within the Solar System.

Shark

NASA Technical Reports Server (NTRS)

1997-01-01

This false color composite image from the Pathfinder lander shows the rock 'Shark' at upper right (Shark is about 0.69 m wide, 0.40 m high, and 6.4 m from the lander). The rock looks like a conglomerate in Sojourner rover images, but only the large elements of its surface textures can be seen here. This demonstrates the usefulness of having a robot rover geologist able to examine rocks up close.

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is a division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

New developments at Hunveyor and Husar space probe model constructions in Hungarian Universities and Colleges: status report of 2008

NASA Astrophysics Data System (ADS)

Hegzi, S.; Bérczi, Sz.; Hudoba, Gy.; Magyar, I.; Lang, A.; Istenes, Z.; Weidinger, T.; Tepliczky, I.; Varga, T.; Hargitai, H.

2008-09-01

Introduction Hunveyor and Husar space probe models are the main school robotics program in Hungary in the last decade initiated by our Cosmic Materials Space research Group (CMSRG). As a new form of planetary science education in Hungary students build their lander and rover robots and test them on test tables, carry out simulations, and go with their instruments to field works of planetary geology analog sites. Recently 10 groups work in this program and here is a status report about the new results. Planetary robot construction and simulations steps We summarized in 10 steps the main "constructional and industrial research and technology" description of planetary material studying and collecting by space probes (landers, rovers). We focused on the activity we began and teach to carry out at those steps. (Main planets considered were the Moon and Mars): 1. Reconnaissance and survey of the surface of a planet by orbital space probes (i.e. Lunar Orbiter, MGS, MRO etc.) Our studies: photogeology, geomorphology, preparations to cartography. 2. Mapping of the surface of the selected planet with geographical and stratigraphical methods. We (CMSRG) prepared thematic maps on Moon, Mercury, Mars, Venus [1] and Atlas (3) in the series [2,3]. 3. Identification of various surface materials by albedo, spectroscopic [4], thermal IR, identification and selection of the target sites. (in terrestrial analog sites during field works) 4. Planning the space probe system lander and rover working together (MPF-Sojourner type assembly). Planning of the Hunveyor and Husar models. 5. Construction and manufacturing lander and rover units. All Hunveyor groups built their models [5]. 6. Launching and traveling the space probes to the planetary surface. (No rocket building, we simulate [6] some events during the voyage only). 7. Measuring the planetary surface environment on the surface of target planet [7]. (CMSRG) groups carry out test-table measurements [8] and simulations, and later they go to geological type planetary analog field works in terrestrial conditions [9]. 8. Transmitting data. At CMSRG groups at field observations to the "terrestrial control" receives data. 9. Studies on planetary material samples. We can study real NASA Lunar Sample, real Hungarian and NIPR meteorite samples. 10. Comparative planetology. CMSRG's outreach studies are summarized in the Concise atlas series notebooks. Husar-2 rover developments The Husar-2 developments of the Pécs University were focused on a rover type to use it in the MDRS program. After systematic developments of Husars from LEGO Husar till the Husar-2a, -2b, -2c variants the final version Husar-2d visited the MDRS crew 71. in Utah, USA in 2008. Two years ago H. Hargitai used Husar-2b in Utah, in the works of the MRDS crew 42. where dry badlands surface forms are excellent analogs to Martian landscape. Hunveyor-4 ice surface visitor The new developments in Hunveyor-4 focused on the winter Balaton surface measurements. The triangular arrangement for the measuring arrangement of the three sound frequency range sensors with a hanged on hydrophone was planned [7]. Husar-5 developments The Husar-5 developments focused on LEGO modelling, and one measurement is for soil vibrations, the other is for the conductivity of the soil. It is in construction at Széchenyi István High School, Sopron. Husar-6 developments The Husar-6 is another LEGO based modelling, built at Zsigmondy Vilmos High School, Dorog. Hunveyor-9 and Husar-9 It is one of the newest construction at the Eötvös József High School in Tata. The Hunveyor-9 have been built with camera and a telescopic arm instrumentation, and a magnetic carpet experiment. Magnetic carpet is a sensor of the magnetic components of a planetary dust mixture transported by the wind. The mixing ratio of the magnetic and nonmagnetic components were measured with various slope angles of the carpet unrolled from Hunveyor-9. Hunveyor-10 The Neumann János Computer Science Society developed the last Hunveyor system. It was a meteorological station with 14 measurements. It represents a halfway Hunveyor, because of the building together of the instruments can be studied in this system. It was transported by the Crew 71 to the MDRS and two weeks of measurements were carried out in Utah, during 2008 April (with Husar-2d field work, too). Summary Several new developments of the Hunveyor-Husar university robot system were shown to mark the intensity of interest of students to the preparations to the field work research in planetary geology by building robotics and use them in field works. References: [1] Hargitai, H. (2004): 35th LPSC, #1078. LPI, Houston; [2] Bérczi, Sz.; Fabriczy, A.; Hargitai, H.; Hegyi, S.; Illés, E.; Kabai, S.; Kovács, Zs.; Kereszturi, A.; Opitz, A.; Sik, A.; 34th LPSC, #1305. LPI, Houston; [3] Bérczi Sz. Hargitai H., Kereszturi Á., Sik A. (2001, 2005): [4] Roskó, F.; Diósy, T.; Bérczi, Sz.; Fabriczy, A.; Cech, V.; Hegyi, S. (2000): 31st LPSC, #1572. LPI, Houston; [5] Bérczi Sz., Hegyi S., Kovács Zs., Fabriczy A., Földi T., Keresztesi M., Cech V., Drommer B., Gránicz K., Hevesi L., Borbola T., Tóth Sz., Németh I., Horváth Cs., Diósy T., Kovács B., Bordás F., Köllõ Z., Roskó F., Balogh Zs., Koris A., Imrek Gy. (2001, 2002): [6] Bérczi, Sz.; Diósy, T.; Tóth, Sz.; Hegyi, S.; Imrek, Gy.; Kovács, Zs.; Cech, V.; Müller-Bodó, E.; Roskó, F.; Szentpétery, L.; Hudoba, Gy. (2002): 33rd LPSC, #1496. LPI, Houston; [7] Hudoba, Gy.; Kovács, Zs. I.; Pintér, A.; Földi, T.; Hegyi, S.; Tóth, Sz.; Roskó, F.; Bérczi, Sz. (2004): 35th LPSC, #1572. LPI, Houston; [8] Gimesi, L.; Béres, Cs. Z.; Bérczi, Sz.; Hegyi, S.; Cech, V. (2004): 35th LPSC, #1140; [9] Hegyi, S.; Drommer, B.; Hegyi, A.; Biró, T.; Kókány, A.; Hudoba, Gy.; Bérczi, Sz. (2006): 37th LPSC, #1136. LPI, Houston; [10] Bérczi, Sz.; Gál-Sólymos, K.; Gucsik, A.; Hargitai, H.; Józsa, S.; Szakmány, Gy.; Kubovics, I.; Puskás, Z. (2006): 37th LPSC, #1298. LPI, Houston;

Status of the ExoMars Project

NASA Astrophysics Data System (ADS)

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

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

Overview of the NASA automation and robotics research program

NASA Technical Reports Server (NTRS)

Holcomb, Lee; Larsen, Ron

1985-01-01

NASA studies over the last eight years have identified five opportunities for the application of automation and robotics technology: (1) satellite servicing; (2) system monitoring, control, sequencing and diagnosis; (3) space manufacturing; (4) space structure assembly; and (5) planetary rovers. The development of these opportunities entails two technology R&D thrusts: telerobotics and system autonomy; both encompass such concerns as operator interface, task planning and reasoning, control execution, sensing, and systems integration.

Advanced Methods for Determining Prediction Uncertainty in Model-Based Prognostics with Application to Planetary Rovers

NASA Technical Reports Server (NTRS)

Daigle, Matthew J.; Sankararaman, Shankar

2013-01-01

Prognostics is centered on predicting the time of and time until adverse events in components, subsystems, and systems. It typically involves both a state estimation phase, in which the current health state of a system is identified, and a prediction phase, in which the state is projected forward in time. Since prognostics is mainly a prediction problem, prognostic approaches cannot avoid uncertainty, which arises due to several sources. Prognostics algorithms must both characterize this uncertainty and incorporate it into the predictions so that informed decisions can be made about the system. In this paper, we describe three methods to solve these problems, including Monte Carlo-, unscented transform-, and first-order reliability-based methods. Using a planetary rover as a case study, we demonstrate and compare the different methods in simulation for battery end-of-discharge prediction.

Adaptive multisensor fusion for planetary exploration rovers

NASA Technical Reports Server (NTRS)

Collin, Marie-France; Kumar, Krishen; Pampagnin, Luc-Henri

1992-01-01

The purpose of the adaptive multisensor fusion system currently being designed at NASA/Johnson Space Center is to provide a robotic rover with assured vision and safe navigation capabilities during robotic missions on planetary surfaces. Our approach consists of using multispectral sensing devices ranging from visible to microwave wavelengths to fulfill the needs of perception for space robotics. Based on the illumination conditions and the sensors capabilities knowledge, the designed perception system should automatically select the best subset of sensors and their sensing modalities that will allow the perception and interpretation of the environment. Then, based on reflectance and emittance theoretical models, the sensor data are fused to extract the physical and geometrical surface properties of the environment surface slope, dielectric constant, temperature and roughness. The theoretical concepts, the design and first results of the multisensor perception system are presented.

Improving Planetary Rover Attitude Estimation via MEMS Sensor Characterization

PubMed Central

Hidalgo, Javier; Poulakis, Pantelis; Köhler, Johan; Del-Cerro, Jaime; Barrientos, Antonio

2012-01-01

Micro Electro-Mechanical Systems (MEMS) are currently being considered in the space sector due to its suitable level of performance for spacecrafts in terms of mechanical robustness with low power consumption, small mass and size, and significant advantage in system design and accommodation. However, there is still a lack of understanding regarding the performance and testing of these new sensors, especially in planetary robotics. This paper presents what is missing in the field: a complete methodology regarding the characterization and modeling of MEMS sensors with direct application. A reproducible and complete approach including all the intermediate steps, tools and laboratory equipment is described. The process of sensor error characterization and modeling through to the final integration in the sensor fusion scheme is explained with detail. Although the concept of fusion is relatively easy to comprehend, carefully characterizing and filtering sensor information is not an easy task and is essential for good performance. The strength of the approach has been verified with representative tests of novel high-grade MEMS inertia sensors and exemplary planetary rover platforms with promising results. PMID:22438761

Miniaturized time-resolved Raman spectrometer for planetary science based on a fast single photon avalanche diode detector array.

PubMed

Blacksberg, Jordana; Alerstam, Erik; Maruyama, Yuki; Cochrane, Corey J; Rossman, George R

2016-02-01

We present recent developments in time-resolved Raman spectroscopy instrumentation and measurement techniques for in situ planetary surface exploration, leading to improved performance and identification of minerals and organics. The time-resolved Raman spectrometer uses a 532 nm pulsed microchip laser source synchronized with a single photon avalanche diode array to achieve sub-nanosecond time resolution. This instrument can detect Raman spectral signatures from a wide variety of minerals and organics relevant to planetary science while eliminating pervasive background interference caused by fluorescence. We present an overview of the instrument design and operation and demonstrate high signal-to-noise ratio Raman spectra for several relevant samples of sulfates, clays, and polycyclic aromatic hydrocarbons. Finally, we present an instrument design suitable for operation on a rover or lander and discuss future directions that promise great advancement in capability.

Development of a Linear Ion Trap Mass Spectrometer (LITMS) Investigation for Future Planetary Surface Missions

NASA Technical Reports Server (NTRS)

Brinckerhoff, W.; Danell, R.; Van Ameron, F.; Pinnick, V.; Li, X.; Arevalo, R.; Glavin, D.; Getty, S.; Mahaffy, P.; Chu, P.;

Robustness via Run-Time Adaptation of Contingent Plans

NASA Technical Reports Server (NTRS)

Bresina, John L.; Washington, Richard; Norvig, Peter (Technical Monitor)

2000-01-01

In this paper, we discuss our approach to making the behavior of planetary rovers more robust for the purpose of increased productivity. Due to the inherent uncertainty in rover exploration, the traditional approach to rover control is conservative, limiting the autonomous operation of the rover and sacrificing performance for safety. Our objective is to increase the science productivity possible within a single uplink by allowing the rover's behavior to be specified with flexible, contingent plans and by employing dynamic plan adaptation during execution. We have deployed a system exhibiting flexible, contingent execution; this paper concentrates on our ongoing efforts on plan adaptation, Plans can be revised in two ways: plan steps may be deleted, with execution continuing with the plan suffix; and the current plan may be merged with an "alternate plan" from an on-board library. The plan revision action is chosen to maximize the expected utility of the plan. Plan merging and action deletion constitute a more conservative general-purpose planning system; in return, our approach is more efficient and more easily verified, two important criteria for deployed rovers.

Design and Laboratory Implementation of Autonomous Optimal Motion Planning for Non-Holonomic Planetary Rovers

DTIC Science & Technology

2012-12-01

autonomy helped to maximize a Mars day journey, because humans could only plan the first portion of the journey based on images sent from the rover...safe trajectory based on its sensors [1]. The distance between Mars and Earth ranges from 100-200 million miles [1] and at this distance, the time...This feature worked for the pre- planned maneuvers, which were planned by humans the day before based on available sensory and visual inputs. Once the

Spectrometer ISEM for ExoMars-2020 space mission

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

A visitor to the Worcester Polytechnic Institute (WPI) "TouchTomorrow" education and outreach event helps demonstrate how a NASA rover design enables the rover to climb over obstacles higher than it's own body on Saturday, June 16, 2012 at WPI in Worcester, Mass. The event was held in tandem with the NASA-WPI Sample Return Robot Centennial Challenge. The NASA-WPI challenge tasked robotic teams to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

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.

Field Tested Service Oriented Robotic Architecture: Case Study

NASA Technical Reports Server (NTRS)

Flueckiger, Lorenzo; Utz, Hanz

2012-01-01

This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at NASA Ames Research Center. SORA relies on proven software methods and technologies applied to the robotic world. Based on a Service Oriented Architecture and robust middleware, SORA extends its reach beyond the on-board robot controller and supports the full suite of software tools used during mission scenarios from ground control to remote robotic sites. SORA has been field tested in numerous scenarios of robotic lunar and planetary exploration. The results of these high fidelity experiments are illustrated through concrete examples that have shown the benefits of using SORA as well as its limitations.

Comparing Apollo and Mars Exploration Rover (MER) Operations Paradigms for Human Exploration During NASA Desert-Rats Science Operations

NASA Technical Reports Server (NTRS)

Yingst, R. A.; Cohen, B. A.; Ming, D. W.; Eppler, D. B.

2011-01-01

NASA's Desert Research and Technology Studies (D-RATS) field test is one of several analog tests that NASA conducts each year to combine operations development, technology advances and science under planetary surface conditions. The D-RATS focus is testing preliminary operational concepts for extravehicular activity (EVA) systems in the field using simulated surface operations and EVA hardware and procedures. For 2010 hardware included the Space Exploration Vehicles, Habitat Demonstration Units, Tri-ATHLETE, and a suite of new geology sample collection tools, including a self-contained GeoLab glove box for conducting in-field analysis of various collected rock samples. The D-RATS activities develop technical skills and experience for the mission planners, engineers, scientists, technicians, and astronauts responsible for realizing the goals of exploring planetary surfaces.

Inflatable robotics for planetary applications

NASA Technical Reports Server (NTRS)

Jones, Jack A.

2001-01-01

Space Inflatable vehicles have been finding popularity in recent years for applications as varied as spacecraft antennas, space-based telescopes, solar sails, and manned habitats [1]. Another branch of space inflatable technology has also considered developing ambient gasfilled, solar balloons for Mars as well as ambient gasfilled inflatable rovers [2]. More recently, some other intriguing space-inflatable vehicles have been proposed for the gas planets and Pluto, as well as for Saturn's moon, Titan, Neptune's moon, Triton, and Jupiter's moon, Io [3].

Sample Analysis at Mars for Curiosity

NASA Image and Video Library

2010-10-08

The Sample Analysis at Mars SAM instrument will analyze samples of Martian rock and soil collected by the rover arm to assess carbon chemistry through a search for organic compounds, and to look for clues about planetary change.

Photo-realistic Terrain Modeling and Visualization for Mars Exploration Rover Science Operations

NASA Technical Reports Server (NTRS)

Edwards, Laurence; Sims, Michael; Kunz, Clayton; Lees, David; Bowman, Judd

2005-01-01

Modern NASA planetary exploration missions employ complex systems of hardware and software managed by large teams of. engineers and scientists in order to study remote environments. The most complex and successful of these recent projects is the Mars Exploration Rover mission. The Computational Sciences Division at NASA Ames Research Center delivered a 30 visualization program, Viz, to the MER mission that provides an immersive, interactive environment for science analysis of the remote planetary surface. In addition, Ames provided the Athena Science Team with high-quality terrain reconstructions generated with the Ames Stereo-pipeline. The on-site support team for these software systems responded to unanticipated opportunities to generate 30 terrain models during the primary MER mission. This paper describes Viz, the Stereo-pipeline, and the experiences of the on-site team supporting the scientists at JPL during the primary MER mission.

Real-time Accurate Surface Reconstruction Pipeline for Vision Guided Planetary Exploration Using Unmanned Ground and Aerial Vehicles

NASA Technical Reports Server (NTRS)

Almeida, Eduardo DeBrito

2012-01-01

This report discusses work completed over the summer at the Jet Propulsion Laboratory (JPL), California Institute of Technology. A system is presented to guide ground or aerial unmanned robots using computer vision. The system performs accurate camera calibration, camera pose refinement and surface extraction from images collected by a camera mounted on the vehicle. The application motivating the research is planetary exploration and the vehicles are typically rovers or unmanned aerial vehicles. The information extracted from imagery is used primarily for navigation, as robot location is the same as the camera location and the surfaces represent the terrain that rovers traverse. The processed information must be very accurate and acquired very fast in order to be useful in practice. The main challenge being addressed by this project is to achieve high estimation accuracy and high computation speed simultaneously, a difficult task due to many technical reasons.

OnSight: Multi-platform Visualization of the Surface of Mars

NASA Astrophysics Data System (ADS)

Abercrombie, S. P.; Menzies, A.; Winter, A.; Clausen, M.; Duran, B.; Jorritsma, M.; Goddard, C.; Lidawer, A.

2017-12-01

A key challenge of planetary geology is to develop an understanding of an environment that humans cannot (yet) visit. Instead, scientists rely on visualizations created from images sent back by robotic explorers, such as the Curiosity Mars rover. OnSight is a multi-platform visualization tool that helps scientists and engineers to visualize the surface of Mars. Terrain visualization allows scientists to understand the scale and geometric relationships of the environment around the Curiosity rover, both for scientific understanding and for tactical consideration in safely operating the rover. OnSight includes a web-based 2D/3D visualization tool, as well as an immersive mixed reality visualization. In addition, OnSight offers a novel feature for communication among the science team. Using the multiuser feature of OnSight, scientists can meet virtually on Mars, to discuss geology in a shared spatial context. Combining web-based visualization with immersive visualization allows OnSight to leverage strengths of both platforms. This project demonstrates how 3D visualization can be adapted to either an immersive environment or a computer screen, and will discuss advantages and disadvantages of both platforms.

Brahms Mobile Agents: Architecture and Field Tests

NASA Technical Reports Server (NTRS)

Clancey, William J.; Sierhuis, Maarten; Kaskiris, Charis; vanHoof, Ron

2002-01-01

We have developed a model-based, distributed architecture that integrates diverse components in a system designed for lunar and planetary surface operations: an astronaut's space suit, cameras, rover/All-Terrain Vehicle (ATV), robotic assistant, other personnel in a local habitat, and a remote mission support team (with time delay). Software processes, called agents, implemented in the Brahms language, run on multiple, mobile platforms. These mobile agents interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. The Brahms-based mobile agent architecture (MAA) uses a novel combination of agent types so the software agents may understand and facilitate communications between people and between system components. A state-of-the-art spoken dialogue interface is integrated with Brahms models, supporting a speech-driven field observation record and rover command system (e.g., return here later and bring this back to the habitat ). This combination of agents, rover, and model-based spoken dialogue interface constitutes a personal assistant. An important aspect of the methodology involves first simulating the entire system in Brahms, then configuring the agents into a run-time system.

ExoMars 2018 Landing Site Selection Process

NASA Astrophysics Data System (ADS)

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

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

Educational space probe model system of lander (Hunveyor), rover (Husar) and test-terrain for planetary science education and analog studies in universities and colleges of Hungary.

NASA Astrophysics Data System (ADS)

Berczi, Sz.; Hegyi, S.; Hudoba, Gy.; Hargitai, H.; Kokany, A.; Drommer, B.; Biro, T.; Gucsik, A.; Pinter, A.; Kovacs, Zs.

In 1997 we began a complex modelling program in planetary geology unifying field work robotics, electronics and complex environmental analysis by constructing an experimental space probe model system. It consists of an experimental lander HUNVEYOR (Hungarian UNiversity surVEYOR), a rover named HUSAR (Hungarian University Surface Analyser Rover) and a test terrain. For Hunveyor the idea and example was the historical Surveyor program of NASA in the 1960-ies, for the Husar the idea and example was the Pathfinder's rover Sojouner rover. The main goals of this program are: 1) to teach the complex work of planetary science according to the main operations of the procedure of the large scientific and technology system, 2) to build the lander structure and basic electronics from cheap everyday PC compatible elements, 3) to construct basic experiments and their instruments, 4) to use the system as a space activity simulator, 5) to form the electronics of this simulator system which contains lander (with on board computer) for works on a test planetary surface, and a "terrestrial control" computer, "talking" with each other, 6) to harmonize the assemblage of the electronic system and instruments in various levels of autonomy from the power and communication circuits, 7) to use the complex system in education for in situ understanding of the complex planetary environmental problems, 8) to build various planetary environments on the test terrain in order to apply the instrument assemblages in various testing conditions, 9) to use the model system with special internet connections capable of communicating in the web in field trip conditions for users, and 10) to use the model system in real planetary analog field trip simulations, first in Hungary and later in some planetary analog site in the world. We report some of these visits in Hungary and Utah, USA. REFERENCES: [1] Bérczi Sz., Cech V., Hegyi S., Borbola T., Diósy T., Köll˝ Z., o 1 Tóth Sz. (1998): LPSC XXIX, #1267; [2] Drommer B., Blénessy G., Hanczár G., Gránicz K., Diósy T., Tóth Sz., Bodó E. (1999): LPSC XXX, #1606; [3] Bérczi Sz., Drommer B., Cech V., Hegyi S., Herbert J., Tóth Sz., Diósy T., Roskó F., Borbola T. (1999): LPSC XXX. #1332 [4] Bérczi Sz., Kabai S., Hegyi S., Cech V., Drommer B., Földi T., Fröhlich A., Gévay G. (1999): LPSC XXX, #1037; [5] S. Hegyi, B. Kovács, M. Keresztesi, I. Béres, Gimesi, Imrek, Lengyel, J. Herbert (2000): LPSC XXXI, #1103, Houston, [6] T. Diósy, F. Roskó, K. Gránicz, B. Drommer, S. Hegyi, J. Herbert, M. Keresztesi, B. Kovács, A. Fabriczy, Sz. Bérczi (2000): LPSC XXXI, #1153, Houston, [7] F. Roskó, T. Diósy, Sz. Bérczi, A. Fabriczy, V. Cech, S. Hegyi (2000): LPSC XXXI, #1572, Houston, [8] Balogh, Zs., Bordás, F., Bérczi, Sz., Diósy, T., Hegyi, S., Imrek, Gy., Kabai, S., Keresztesi, M. (2002): LPSC XXXIII, Abstract #1085, LPI, Houston (CD-ROM), [9] Hegyi, S., Horváth, Cs., Németh, I., Keresztesi, M., Hegyi, Á., Kovács, Zs., Diósy, T., Kabai, S., Bérczi, Sz. (2002): LPSC XXXIII, Abstract #1124, LPI, Houston (CD-ROM), [10] Sz. Bérczi, T. Diósy, Sz. Tóth, S. Hegyi, Gy. Imrek, Zs. Kovács, V. Cech, E. Müller-Bodó, F. Roskó, L. Szentpétery, Gy. Hudoba (2002): LPSC XXXIII, Abstract #1496, LPI, Houston (CD-ROM). 2

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.

Rover and Telerobotics Technology Program

NASA Technical Reports Server (NTRS)

Weisbin, Charles R.

1998-01-01

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

Mars Science Laboratory Parachute, Artist Concept

NASA Image and Video Library

2011-10-03

This artist concept is of NASA Mars Science Laboratory MSL Curiosity rover parachute system; the largest parachute ever built to fly on a planetary mission. The parachute is attached to the top of the backshell portion of the spacecraft aeroshell.

Autonomous planetary rover

NASA Astrophysics Data System (ADS)

Krotkov, Eric; Simmons, Reid; Whittaker, William

1992-02-01

This report describes progress in research on an autonomous robot for planetary exploration performed during 1991 at the Robotics Institute, Carnegie Mellon University. The report summarizes the achievements during calendar year 1991, and lists personnel and publications. In addition, it includes several papers resulting from the research. Research in 1991 focused on understanding the unique capabilities of the Ambler mechanism and on autonomous walking in rough, natural terrain. We also designed a sample acquisition system, and began to configure a successor to the Ambler.

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

NASA Program Manager for Centennial Challenges Sam Ortega help show a young visitor how to drive a rover as part of the interactive NASA Mars rover exhibit during the Worcester Polytechnic Institute (WPI) "TouchTomorrow" education and outreach event that was held in tandem with the NASA-WPI Sample Return Robot Centennial Challenge on Saturday, June 16, 2012 in Worcester, Mass. The NASA-WPI challenge tasked robotic teams to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Evaluation of the propulsion control system of a planetary rover and design of a mast for an elevation scanning laser/multi-detector system

NASA Technical Reports Server (NTRS)

Knaub, D.; Yerazunis, S. W.

1978-01-01

Vertical wheel loads, wheel speeds, and torque relationships are considered in the design of a propulsion system capable of responding to steering, slope climbing, and irregular local terrains. The system developed is applied to the RPI Mars roving vehicle. The mechanical system required to implement the elevation laser scanning/multidetector principle was the design and construction of a mechanical system for implementing the elevation scanning/multidetector principle is also discussed.

Los Alamos on Radio Café: Nina Lanza

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

Lanza, Nina; Domandi, Mary-Charlotte

2017-04-11

First up in the new series is Los Alamos National Laboratory’s Nina Lanza from the Space and Remote Sensing group. Lanza is a planetary geologist who has been part of the Mars Curiosity Rover “ChemCam” team since 2012.

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.

The PanCam Instrument for the ExoMars Rover

NASA Astrophysics Data System (ADS)

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

2017-07-01

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

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.

Integrating the Teaching of Space Science, Planetary Exploration And Robotics In Elementary And Middle School with Mars Rover Models

NASA Astrophysics Data System (ADS)

Bering, E. A.; Ramsey, J.; Smith, H.; Boyko, B. S.; Peck, S.; Arcenaux, W. H.

2005-05-01

The present aerospace engineering and science workforce is ageing. It is not clear that the US education system will produce enough qualified replacements to meet the need in the near future. Unfortunately, by the time many students get to high school, it is often too late to get them pointed toward an engineering or science career. Since some college programs require 6 units of high school mathematics for admission, students need to begin consciously preparing for a science or engineering curriculum as early as 6th or 7th grade. The challenge for educators is to convince elementary school students that science and engineering are both exciting, relevant and accessible career paths. This paper describes a program designed to help provide some excitement and relevance. It is based on the task of developing a mobile robot or "Rover" to explore the surface of Mars. There are two components to the program, a curriculum unit and a contest. The curriculum unit is structured as a 6-week planetary science unit for elementary school (grades 3-5). It can also be used as a curriculum unit, enrichment program or extracurricular activity in grades 6-8 by increasing the expected level of scientific sophistication in the mission design. The second component is a citywide competition to select the most outstanding models that is held annually at a local college or University. Primary (Grades 3-5) and middle school (Grades 6-8) students interested in science and engineering will design and build of a model of a Mars Rover to carry out a specific science mission on the surface of Mars. The students will build the models as part of a 6-week Fall semester classroom-learning or homework project on Mars. The students will be given design criteria for a rover, and be required to do basic research on Mars that will determine the operational objectives and structural features of their rover. This module may be used as part of a class studying general science, earth science, solar system astronomy or robotics or as a multi-disciplinary unit for a gifted and talented program. A written report on the science objectives and design features of the Rover is required. The program includes specific learning objectives in research skills, language arts (reading scientific literature, preparing a verbal presentation and writing a report), mathematics, science and engineering.The model will be mostly a mock-up, constructed at a minimal cost (estimated cost of less than 10-25) of mostly found objects and simple art supplies.

Using Wind Driven Tumbleweed Rovers to Explore Martian Gully Features

NASA Technical Reports Server (NTRS)

Antol, Jeffrey; Woodard, Stanley E.; Hajos, Gregory A.; Heldmann, Jennifer L.; Taylor, Bryant D.

2004-01-01

Gully features have been observed on the slopes of numerous Martian crater walls, valleys, pits, and graben. Several mechanisms for gully formation have been proposed, including: liquid water aquifers (shallow and deep), melting ground ice, snow melt, CO2 aquifers, and dry debris flow. Remote sensing observations indicate that the most likely erosional agent is liquid water. Debate concerns the source of this water. Observations favor a liquid water aquifer as the primary candidate. The current strategy in the search for life on Mars is to "follow the water." A new vehicle known as a Tumbleweed rover may be able to conduct in-situ investigations in the gullies, which are currently inaccessible by conventional rovers. Deriving mobility through use of the surface winds on Mars, Tumbleweed rovers would be lightweight and relatively inexpensive thus allowing multiple rovers to be deployed in a single mission to survey areas for future exploration. NASA Langley Research Center (LaRC) is developing deployable structure Tumbleweed concepts. An extremely lightweight measurement acquisition system and sensors are proposed for the Tumbleweed rover that greatly increases the number of measurements performed while having negligible mass increase. The key to this method is the use of magnetic field response sensors designed as passive inductor-capacitor circuits that produce magnetic field responses whose attributes correspond to values of physical properties for which the sensors measure. The sensors do not need a physical connection to a power source or to data acquisition equipment resulting in additional weight reduction. Many of the sensors and interrogating antennae can be directly placed on the Tumbleweed using film deposition methods such as photolithography thus providing further weight reduction. Concepts are presented herein for methods to measure subsurface water, subsurface metals, planetary winds and environmental gases.

Using Wind Driven Tumbleweed Rovers to Explore Martian Gully Features

NASA Technical Reports Server (NTRS)

Antol, Jeffrey; Woodard, Stanley E.; Hajos, Gregory A.; Heldmann, Jennifer L.; Taylor, Bryant D.

2005-01-01

Gully features have been observed on the slopes of numerous Martian crater walls, valleys, pits, and graben. Several mechanisms for gully formation have been proposed, including: liquid water aquifers (shallow and deep), melting ground ice, snow melt, CO2 aquifers, and dry debris flow. Remote sensing observations indicate that the most likely erosional agent is liquid water. Debate concerns the source of this water. Observations favor a liquid water aquifer as the primary candidate. The current strategy in the search for life on Mars is to "follow the water." A new vehicle known as a Tumbleweed rover may be able to conduct in-situ investigations in the gullies, which are currently inaccessible by conventional rovers. Deriving mobility through use of the surface winds on Mars, Tumbleweed rovers would be lightweight and relatively inexpensive thus allowing multiple rovers to be deployed in a single mission to survey areas for future exploration. NASA Langley Research Center (LaRC) is developing deployable structure Tumbleweed concepts. An extremely lightweight measurement acquisition system and sensors are proposed for the Tumbleweed rover that greatly increases the number of measurements performed while having negligible mass increase. The key to this method is the use of magnetic field response sensors designed as passive inductor-capacitor circuits that produce magnetic field responses whose attributes correspond to values of physical properties for which the sensors measure. The sensors do not need a physical connection to a power source or to data acquisition equipment resulting in additional weight reduction. Many of the sensors and interrogating antennae can be directly placed on the Tumbleweed using film deposition methods such as photolithography thus providing further weight reduction. Concepts are presented herein for methods to measure subsurface water, subsurface metals, planetary winds and environmental gases.

Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned

NASA Technical Reports Server (NTRS)

Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

2013-01-01

This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at the NASA Ames Research Center. SORA relies on proven software engineering methods and technologies applied to space robotics. Based on a Service Oriented Architecture and robust middleware, SORA encompasses on-board robot control and a full suite of software tools necessary for remotely operated exploration missions. SORA has been eld tested in numerous scenarios of robotic lunar and planetary exploration. The experiments conducted by IRG with SORA exercise a large set of the constraints encountered in space applications: remote robotic assets, ight relevant science instruments, distributed operations, high network latencies and unreliable or intermittent communication links. In this paper, we present the results of these eld tests in regard to the developed architecture, and discuss its bene ts and limitations.

Extraterrestrial Virtual Field Experience: Water at Meridiani

NASA Astrophysics Data System (ADS)

Duggan-Haas, D.; Million, C.; Sullivan, R. J., Jr.; Hayes, A. G., Jr.; Ross, R. M.; St Clair, M.

2014-12-01

The Spacecraft Planetary Imaging Facility (SPIF) at Cornell University, in collaboration with Million Concepts and the Paleontological Research Institute (PRI), has developed the Extraterrestrial Virtual Field Experience (EVFE), a web-based, game-like and inquiry-driven classroom activity targeted to middle school through undergraduate introductory Earth science classrooms. Students play the role of mission scientists for a NASA rover mission, tasked with targeting the rover's scientific instruments to investigate a specific scientific question about the landing site. As with the real mission, the student operators must optimize the efficient use of limited resources and time against the need to make observations to address working hypotheses. The activity uses only real--not artificial or simulated--mission data, and students are guided throughout by a "Mission Manager" who provides hints and advice about the scientific meaning of observations within the broader context of the mission objectives. The MER Opportunity EVFE is a pilot effort, the first of five EVFE modules planned a rate of one per year that will feature different NASA missions and scientific topics. The MER Opportunity EVFE has already been developed and focuses on the investigation of the history of water on Mars at the Meridiani landing site of the Opportunity rover. The module includes a teacher guide and is currently available to educators through the SPIF website.

Terrain interaction with the quarter scale beam walker

NASA Technical Reports Server (NTRS)

Chun, Wendell H.; Price, S.; Spiessbach, A.

1990-01-01

Frame walkers are a class of mobile robots that are robust and capable mobility platforms. Variations of the frame walker robot are in commercial use today. Komatsu Ltd. of Japan developed the Remotely Controlled Underwater Surveyor (ReCUS) and Normed Shipyards of France developed the Marine Robot (RM3). Both applications of the frame walker concept satisfied robotic mobility requirements that could not be met by a wheeled or tracked design. One vehicle design concept that falls within this class of mobile robots is the walking beam. A one-quarter scale prototype of the walking beam was built by Martin Marietta to evaluate the potential merits of utilizing the vehicle as a planetary rover. The initial phase of prototype rover testing was structured to evaluate the mobility performance aspects of the vehicle. Performance parameters such as vehicle power, speed, and attitude control were evaluated as a function of the environment in which the prototype vehicle was tested. Subsequent testing phases will address the integrated performance of the vehicle and a local navigation system.

Terrain Interaction With The Quarter Scale Beam Walker

NASA Astrophysics Data System (ADS)

Chun, Wendell H.; Price, R. S.; Spiessbach, Andrew J.

1990-03-01

Frame walkers are a class of mobile robots that are robust and capable mobility platforms. Variations of the frame walker robot are in commercial use today. Komatsu Ltd. of Japan developed the Remotely Controlled Underwater Surveyor (ReCUS) and Normed Shipyards of France developed the Marine Robot (RM3). Both applications of the frame walker concept satisfied robotic mobility requirements that could not be met by a wheeled or tracked design. One vehicle design concept that falls within this class of mobile robots is the walking beam. A one-quarter scale prototype of the walking beam was built by Martin Marietta to evaluate the potential merits of utilizing the vehicle as a planetary rover. The initial phase of prototype rover testing was structured to evaluate the mobility performance aspects of the vehicle. Performance parameters such as vehicle power, speed, and attitude control were evaluated as a function of the environment in which the prototype vehicle was tested. Subsequent testing phases will address the integrated performance of the vehicle and a local navigation system.

Spatial Coverage Planning and Optimization for Planetary Exploration

NASA Technical Reports Server (NTRS)

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

2008-01-01

We are developing onboard planning and scheduling technology to enable in situ robotic explorers, such as rovers and aerobots, to more effectively assist scientists in planetary exploration. In our current work, we are focusing on situations in which the robot is exploring large geographical features such as craters, channels or regional boundaries. In to develop valid and high quality plans, the robot must take into account a range of scientific and engineering constraints and preferences. We have developed a system that incorporates multiobjective optimization and planning allowing the robot to generate high quality mission operations plans that respect resource limitations and mission constraints while attempting to maximize science and engineering objectives. An important scientific objective for the exploration of geological features is selecting observations that spatially cover an area of interest. We have developed a metric to enable an in situ explorer to reason about and track the spatial coverage quality of a plan. We describe this technique and show how it is combined in the overall multiobjective optimization and planning algorithm.

An Overview of Wind-Driven Rovers for Planetary Exploration

NASA Technical Reports Server (NTRS)

Hajos, Gregory A.; Jones, Jack A.; Behar, Alberto; Dodd, Micheal

2005-01-01

The use of in-situ propulsion is considered enabling technology for long duration planetary surface missions. Most studies have focused on stored energy from chemicals extracted from the soil or the use of soil chemicals to produce photovoltaic arrays. An older form of in-situ propulsion is the use of wind power. Recent studies have shown potential for wind driven craft for exploration of Mars, Titan and Venus. The power of the wind, used for centuries to power wind mills and sailing ships, is now being applied to modern land craft. Efforts are now underway to use the wind to push exploration vehicles on other planets and moons in extended survey missions. Tumbleweed rovers are emerging as a new type of wind-driven science platform concept. Recent investigations by the National Aeronautics and Space Administration (NASA) and Jet Propulsion Laboratory (JPL) indicate that these light-weight, mostly spherical or quasi-spherical devices have potential for long distance surface exploration missions. As a power boat has unique capabilities, but relies on stored energy (fuel) to move the vessel, the Tumbleweed, like the sailing ships of the early explorers on earth, uses an unlimited resource the wind to move around the surface of Mars. This has the potential to reduce the major mass drivers of robotic rovers as well as the power generation and storage systems. Jacques Blamont of JPL and the University of Paris conceived the first documented Mars wind-blown ball in 1977, shortly after the Viking landers discovered that Mars has a thin CO2 atmosphere with relatively strong winds. In 1995, Jack Jones, et al, of JPL conceived of a large wind-blown inflated ball for Mars that could also be driven and steered by means of a motorized mass hanging beneath the rolling axis of the ball. A team at NASA Langley Research Center started a biomimetic Tumbleweed design study in 1998. Wind tunnel and CFD analysis were applied to a variety of concepts to optimize the aerodynamic characteristics of the Tumbleweed Rovers. Bare structures, structures carrying sails and a tumbleweed plant (of the Salsola genus) were tested in Langley's wind tunnels. Thomas Estier of the Swiss Federal Institute of Technology developed a memory metal collapsible structure, the Windball. Numerous other researchers have also suggested spherical rovers.

System concepts and design examples for optical communication with planetary spacecraft

NASA Astrophysics Data System (ADS)

Lesh, James R.

Systems concepts for optical communication with future deep-space (planetary) spacecraft are described. These include not only the optical transceiver package aboard the distant spacecraft, but the earth-vicinity optical-communications receiving station as well. Both ground-based, and earth-orbiting receivers are considered. Design examples for a number of proposed or potential deep-space missions are then presented. These include an orbital mission to Saturn, a Lander and Rover mission to Mars, and an astronomical mission to a distance of 1000 astronomical units.

Development and Testing of Laser-induced Breakdown Spectroscopy for the Mars Rover Program: Elemental Analyses at Stand-Off Distances

NASA Technical Reports Server (NTRS)

Cremers, D. A.; Wiens, R. C.; Arp, Z. A.; Harris, R. D.; Maurice, S.

2003-01-01

One of the most fundamental pieces of information about any planetary body is the elemental composition of its surface materials. The Viking Martian landers employed XRF (x-ray fluorescence) and the MER rovers are carrying APXS (alpha-proton x-ray spectrometer) instruments upgraded from that used on the Pathfinder rover to supply elemental composition information for soils and rocks to which direct contact is possible. These in- situ analyses require that the lander or rover be in contact with the sample. In addition to in-situ instrumentation, the present generation of rovers carry instruments that operate at stand-off distances. The Mini-TES is an example of a stand-off instrument on the MER rovers. Other examples for future missions include infrared point spectrometers and microscopic-imagers that can operate at a distance. The main advantage of such types of analyses is obvious: the sensing element does not need to be in contact or even adjacent to the target sample. This opens up new sensing capabilities. For example, targets that cannot be reached by a rover due to impassable terrain or targets positioned on a cliff face can now be accessed using stand-off analysis. In addition, the duty cycle of stand-off analysis can be much greater than that provided by in-situ measurements because the stand-off analysis probe can be aimed rapidly at different features of interest eliminating the need for the rover to actually move to the target. Over the past five years we have been developing a stand-off method of elemental analysis based on atomic emission spectroscopy called laser-induced breakdown spectroscopy (LIBS). A laser-produced spark vaporizes and excites the target material, the elements of which emit at characteristic wavelengths. Using this method, material can be analyzed from within a radius of several tens of meters from the instrument platform. A relatively large area can therefore be sampled from a simple lander without requiring a rover or sampling arms. The placement of such an instrument on a rover would allow the sampling of locations distant from the landing site. Here we give a description of the LIBS method and its advantages. We discuss recent work on determining its characteristics for Mars exploration, including accuracy, detection limits, and suitability for determining the presence of water ice and hydrated minerals. We also give a description of prototype instruments we have tested in field settings.

Mars rover sample return: An exobiology science scenario

NASA Technical Reports Server (NTRS)

Rosenthal, D. A.; Sims, M. H.; Schwartz, Deborah E.; Nedell, S. S.; Mckay, Christopher P.; Mancinelli, Rocco L.

1988-01-01

A mission designed to collect and return samples from Mars will provide information regarding its composition, history, and evolution. At the same time, a sample return mission generates a technical challenge. Sophisticated, semi-autonomous, robotic spacecraft systems must be developed in order to carry out complex operations at the surface of a very distant planet. An interdisciplinary effort was conducted to consider how much a Mars mission can be realistically structured to maximize the planetary science return. The focus was to concentrate on a particular set of scientific objectives (exobiology), to determine the instrumentation and analyses required to search for biological signatures, and to evaluate what analyses and decision making can be effectively performed by the rover in order to minimize the overhead of constant communication between Mars and the Earth. Investigations were also begun in the area of machine vision to determine whether layered sedimentary structures can be recognized autonomously, and preliminary results are encouraging.

NASA Participates in Mars Day Activities at the National Air and Space Museum

NASA Image and Video Library

2017-07-21

NASA participated in the July 21 Mars Day event at the Smithsonian National Air and Space Museum (NASM) in Washington, D.C. The museum hosts this annual event, which includes exhibits, speakers and educational activities, to celebrate the Red Planet. Jim Green, director of NASA’s Planetary Science Division, along with other NASA scientists and engineers, was on hand to talk with visitors about the agency’s Mars exploration missions. There was also a Mars concept rover on display, developed by vehicle designers the Parker Brothers with advice from NASA. The vehicle is currently on an East Coast tour from its home base at the Kennedy Space Center Visitor’s Complex in Florida. The concept rover is designed to engage and educate the public by demonstrating the types of features and equipment a future human exploration vehicle may need.

NASA Participates in Mars Day Activities at National Air and Space Museum

NASA Image and Video Library

2017-07-21

NASA participated in the July 21 Mars Day event at the Smithsonian National Air and Space Museum (NASM) in Washington, D.C. The museum hosts this annual event, which includes exhibits, speakers and educational activities, to celebrate the Red Planet.    Jim Green, director of NASA’s Planetary Science Division, along with other NASA scientists and engineers, was on hand to talk with visitors about the agency’s Mars exploration missions. There was also a Mars concept rover on display, developed by vehicle designers the Parker Brothers with advice from NASA. The vehicle is currently on an East Coast tour from its home base at the Kennedy Space Center Visitor’s Complex in Florida. The concept rover is designed to engage and educate the public by demonstrating the types of features and equipment a future human exploration vehicle may need.

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

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.

A New Vehicle for Planetary Surface Exploration: The Mars Tumbleweed

NASA Technical Reports Server (NTRS)

Antol, Jeffrey

2005-01-01

The surface of Mars is currently being explored with a combination of orbiting spacecraft, stationary landers and wheeled rovers. However, only a small portion of the Martian surface has undergone in-situ examination. Landing sites must be chosen to insure the safety of the vehicles (and human explorers) and provide the greatest opportunity for mission success. While wheeled rovers provide the ability to move beyond the landing sites, they are also limited in their ability to traverse rough terrain; therefore, many scientifically interesting sites are inaccessible by current vehicles. In order to access these sites, a capability is needed that can transport scientific instruments across varied Martian terrain. A new "rover" concept for exploring the Martian surface, known as the Mars Tumbleweed, will derive mobility through use of the surface winds on Mars, much like the Tumbleweed plant does here on Earth. Using the winds on Mars, a Tumbleweed rover could conceivably travel great distances and cover broad areas of the planetary surface. Tumbleweed vehicles would be designed to withstand repeated bouncing and rolling on the rock covered Martian surface and may be durable enough to explore areas on Mars such as gullies and canyons that are currently inaccessible by conventional rovers. Achieving Mars wind-driven mobility; however, is not a minor task. The density of the atmosphere on Mars is approximately 60-80 times less than that on Earth and wind speeds are typically around 2-5 m/s during the day, with periodic winds of 10 m/s to 20 m/s (in excess of 25 m/s during seasonal dust storms). However, because of the Martian atmosphere#s low density, even the strongest winds on Mars equate to only a gentle breeze on Earth. Tumbleweed rovers therefore need to be relatively large (4-6 m in diameter), very lightweight (10-20 kg), and equipped with lightweight, low-power instruments. This paper provides an overview of the Tumbleweed concept, presents several notional design concepts, mission scenarios, and highlights recent tests and analyses of Tumbleweed prototypes.

Using Scaled Visual Texture for Autonomous Rock Clustering

NASA Technical Reports Server (NTRS)

Anderson, R. C.; Castano, R.; Stough, T.; Gor, V.; Mjolsness, E.

2001-01-01

To maximize the return on future planetary missions, it will be critical that rovers have the capability to analyze information onboard and select and return data that is most likely to yield valuable scientific discoveries. Additional information is contained in the original extended abstract.

PRoViScout: a planetary scouting rover demonstrator

NASA Astrophysics Data System (ADS)

Paar, Gerhard; Woods, Mark; Gimkiewicz, Christiane; Labrosse, Frédéric; Medina, Alberto; Tyler, Laurence; Barnes, David P.; Fritz, Gerald; Kapellos, Konstantinos

2012-01-01

Mobile systems exploring Planetary surfaces in future will require more autonomy than today. The EU FP7-SPACE Project ProViScout (2010-2012) establishes the building blocks of such autonomous exploration systems in terms of robotics vision by a decision-based combination of navigation and scientific target selection, and integrates them into a framework ready for and exposed to field demonstration. The PRoViScout on-board system consists of mission management components such as an Executive, a Mars Mission On-Board Planner and Scheduler, a Science Assessment Module, and Navigation & Vision Processing modules. The platform hardware consists of the rover with the sensors and pointing devices. We report on the major building blocks and their functions & interfaces, emphasizing on the computer vision parts such as image acquisition (using a novel zoomed 3D-Time-of-Flight & RGB camera), mapping from 3D-TOF data, panoramic image & stereo reconstruction, hazard and slope maps, visual odometry and the recognition of potential scientifically interesting targets.

A Mars Rover Mission Simulation on Kilauea Volcano

NASA Technical Reports Server (NTRS)

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

1995-01-01

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

Mars for Earthlings: An Analog Approach to Mars in Undergraduate Education

PubMed Central

Kahmann-Robinson, Julia

2014-01-01

Abstract Mars for Earthlings (MFE) is a terrestrial Earth analog pedagogical approach to teaching undergraduate geology, planetary science, and astrobiology. MFE utilizes Earth analogs to teach Mars planetary concepts, with a foundational backbone in Earth science principles. The field of planetary science is rapidly changing with new technologies and higher-resolution data sets. Thus, it is increasingly important to understand geological concepts and processes for interpreting Mars data. MFE curriculum is topically driven to facilitate easy integration of content into new or existing courses. The Earth-Mars systems approach explores planetary origins, Mars missions, rocks and minerals, active driving forces/tectonics, surface sculpting processes, astrobiology, future explorations, and hot topics in an inquiry-driven environment. Curriculum leverages heavily upon multimedia resources, software programs such as Google Mars and JMARS, as well as NASA mission data such as THEMIS, HiRISE, CRISM, and rover images. Two years of MFE class evaluation data suggest that science literacy and general interest in Mars geology and astrobiology topics increased after participation in the MFE curriculum. Students also used newly developed skills to create a Mars mission team presentation. The MFE curriculum, learning modules, and resources are available online at http://serc.carleton.edu/marsforearthlings/index.html. Key Words: Mars—Geology—Planetary science—Astrobiology—NASA education. Astrobiology 14, 42–49. PMID:24359289

Towards Camera-LIDAR Fusion-Based Terrain Modelling for Planetary Surfaces: Review and Analysis

PubMed Central

Shaukat, Affan; Blacker, Peter C.; Spiteri, Conrad; Gao, Yang

2016-01-01

In recent decades, terrain modelling and reconstruction techniques have increased research interest in precise short and long distance autonomous navigation, localisation and mapping within field robotics. One of the most challenging applications is in relation to autonomous planetary exploration using mobile robots. Rovers deployed to explore extraterrestrial surfaces are required to perceive and model the environment with little or no intervention from the ground station. Up to date, stereopsis represents the state-of-the art method and can achieve short-distance planetary surface modelling. However, future space missions will require scene reconstruction at greater distance, fidelity and feature complexity, potentially using other sensors like Light Detection And Ranging (LIDAR). LIDAR has been extensively exploited for target detection, identification, and depth estimation in terrestrial robotics, but is still under development to become a viable technology for space robotics. This paper will first review current methods for scene reconstruction and terrain modelling using cameras in planetary robotics and LIDARs in terrestrial robotics; then we will propose camera-LIDAR fusion as a feasible technique to overcome the limitations of either of these individual sensors for planetary exploration. A comprehensive analysis will be presented to demonstrate the advantages of camera-LIDAR fusion in terms of range, fidelity, accuracy and computation. PMID:27879625

Challenges of Rover Navigation at the Lunar Poles

NASA Technical Reports Server (NTRS)

Nefian, Ara; Deans, Matt; Bouyssounouse, Xavier; Edwards, Larry; Dille, Michael; Fong, Terry; Colaprete, Tony; Miller, Scott; Vaughan, Ryan; Andrews, Dan;

Exploration of Mars with the ChemCam LIBS Instrument and the Curiosity Rover

NASA Technical Reports Server (NTRS)

Newsom, Horton E.

2016-01-01

The Mars Science Laboratory (MSL) Curiosity rover landed on Mars in August 2012, and has been exploring the planet ever since. Dr. Horton E. Newsom will discuss the MSL's design and main goal, which is to characterize past environments that may have been conducive to the evolution and sustainability of life. He will also discuss Curiosity's science payload, and remote sensing, analytical capabilities, and direct discoveries of the Chemistry & Camera (ChemCam) instrument, which is the first Laser Induced Breakdown Spectrometer (LIBS) to operate on another planetary surface and determine the chemistry of the rocks and soils.

Motion Trajectories for Wide-area Surveying with a Rover-based Distributed Spectrometer

NASA Technical Reports Server (NTRS)

Tunstel, Edward; Anderson, Gary; Wilson, Edmond

2006-01-01

A mobile ground survey application that employs remote sensing as a primary means of area coverage is highlighted. It is distinguished from mobile robotic area coverage problems that employ contact or proximity-based sensing. The focus is on a specific concept for performing mobile surveys in search of biogenic gases on planetary surfaces using a distributed spectrometer -- a rover-based instrument designed for wide measurement coverage of promising search areas. Navigation algorithms for executing circular and spiral survey trajectories are presented for widearea distributed spectroscopy and evaluated based on area covered and distance traveled.

Evolution of Autonomous Self-Righting Behaviors for Articulated Nanorovers

NASA Technical Reports Server (NTRS)

Tunstel, Edward

1999-01-01

Miniature rovers with articulated mobility mechanisms are being developed for planetary surface exploration on Mars and small solar system bodies. These vehicles are designed to be capable of autonomous recovery from overturning during surface operations. This paper describes a computational means of developing motion behaviors that achieve the autonomous recovery function. It proposes a control software design approach aimed at reducing the effort involved in developing self-righting behaviors. The approach is based on the integration of evolutionary computing with a dynamics simulation environment for evolving and evaluating motion behaviors. The automated behavior design approach is outlined and its underlying genetic programming infrastructure is described.

Automating X-ray Fluorescence Analysis for Rapid Astrobiology Surveys.

PubMed

Thompson, David R; Flannery, David T; Lanka, Ravi; Allwood, Abigail C; Bue, Brian D; Clark, Benton C; Elam, W Timothy; Estlin, Tara A; Hodyss, Robert P; Hurowitz, Joel A; Liu, Yang; Wade, Lawrence A

2015-11-01

A new generation of planetary rover instruments, such as PIXL (Planetary Instrument for X-ray Lithochemistry) and SHERLOC (Scanning Habitable Environments with Raman Luminescence for Organics and Chemicals) selected for the Mars 2020 mission rover payload, aim to map mineralogical and elemental composition in situ at microscopic scales. These instruments will produce large spectral cubes with thousands of channels acquired over thousands of spatial locations, a large potential science yield limited mainly by the time required to acquire a measurement after placement. A secondary bottleneck also faces mission planners after downlink; analysts must interpret the complex data products quickly to inform tactical planning for the next command cycle. This study demonstrates operational approaches to overcome these bottlenecks by specialized early-stage science data processing. Onboard, simple real-time systems can perform a basic compositional assessment, recognizing specific features of interest and optimizing sensor integration time to characterize anomalies. On the ground, statistically motivated visualization can make raw uncalibrated data products more interpretable for tactical decision making. Techniques such as manifold dimensionality reduction can help operators comprehend large databases at a glance, identifying trends and anomalies in data. These onboard and ground-side analyses can complement a quantitative interpretation. We evaluate system performance for the case study of PIXL, an X-ray fluorescence spectrometer. Experiments on three representative samples demonstrate improved methods for onboard and ground-side automation and illustrate new astrobiological science capabilities unavailable in previous planetary instruments. Dimensionality reduction-Planetary science-Visualization.

Mars for Earthlings: an analog approach to Mars in undergraduate education.

PubMed

Chan, Marjorie; Kahmann-Robinson, Julia

2014-01-01

Mars for Earthlings (MFE) is a terrestrial Earth analog pedagogical approach to teaching undergraduate geology, planetary science, and astrobiology. MFE utilizes Earth analogs to teach Mars planetary concepts, with a foundational backbone in Earth science principles. The field of planetary science is rapidly changing with new technologies and higher-resolution data sets. Thus, it is increasingly important to understand geological concepts and processes for interpreting Mars data. MFE curriculum is topically driven to facilitate easy integration of content into new or existing courses. The Earth-Mars systems approach explores planetary origins, Mars missions, rocks and minerals, active driving forces/tectonics, surface sculpting processes, astrobiology, future explorations, and hot topics in an inquiry-driven environment. Curriculum leverages heavily upon multimedia resources, software programs such as Google Mars and JMARS, as well as NASA mission data such as THEMIS, HiRISE, CRISM, and rover images. Two years of MFE class evaluation data suggest that science literacy and general interest in Mars geology and astrobiology topics increased after participation in the MFE curriculum. Students also used newly developed skills to create a Mars mission team presentation. The MFE curriculum, learning modules, and resources are available online at http://serc.carleton.edu/marsforearthlings/index.html.

Microbial Ecology of a Crewed Rover Traverse in the Arctic: Low Microbial Dispersal and Implications for Planetary Protection on Human Mars Missions.

PubMed

Schuerger, Andrew C; Lee, Pascal

2015-06-01

Between April 2009 and July 2011, the NASA Haughton-Mars Project (HMP) led the Northwest Passage Drive Expedition (NWPDX), a multi-staged long-distance crewed rover traverse along the Northwest Passage in the Arctic. In April 2009, the HMP Okarian rover was driven 496 km over sea ice along the Northwest Passage, from Kugluktuk to Cambridge Bay, Nunavut, Canada. During the traverse, crew members collected samples from within the rover and from undisturbed snow-covered surfaces around the rover at three locations. The rover samples and snow samples were stored at subzero conditions (-20°C to -1°C) until processed for microbial diversity in labs at the NASA Kennedy Space Center, Florida. The objective was to determine the extent of microbial dispersal away from the rover and onto undisturbed snow. Interior surfaces of the rover were found to be associated with a wide range of bacteria (69 unique taxa) and fungi (16 unique taxa). In contrast, snow samples from the upwind, downwind, uptrack, and downtrack sample sites exterior to the rover were negative for both bacteria and fungi except for two colony-forming units (cfus) recovered from one downwind (1 cfu; site A4) and one uptrack (1 cfu; site B6) sample location. The fungus, Aspergillus fumigatus (GenBank JX517279), and closely related bacteria in the genus Brevibacillus were recovered from both snow (B. agri, GenBank JX517278) and interior rover surfaces. However, it is unknown whether the microorganisms were deposited onto snow surfaces at the time of sample collection (i.e., from the clothing or skin of the human operator) or via airborne dispersal from the rover during the 12-18 h layovers at the sites prior to collection. Results support the conclusion that a crewed rover traveling over previously undisturbed terrain may not significantly contaminate the local terrain via airborne dispersal of propagules from the vehicle.

The Scale of Exploration: Planetary Missions Set in the Context of Tourist Destinations on Earth

NASA Astrophysics Data System (ADS)

Garry, W. B.; Bleacher, L. V.; Bleacher, J. E.; Petro, N. E.; Mest, S. C.; Williams, S. H.

2012-03-01

What if the Apollo astronauts explored Washington, DC, or the Mars Exploration Rovers explored Disney World? We present educational versions of the traverse maps for Apollo and MER missions set in the context of popular tourist destinations on Earth.

Mars Up Close

NASA Image and Video Library

2014-08-05

Dr. Jim Green, NASA‘s Planetary Science Division Director and Head of Mars Program, discusses what we’ve learned from Curiosity and the other Mars rovers during a “Mars Up Close” panel discussion, Tuesday, August 5, 2014, at the National Geographic Society headquarters in Washington. Photo Credit: (NASA/Bill Ingalls)

SeaRover: An Emerging Technology for Sea Surface Sensor Networks

NASA Astrophysics Data System (ADS)

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

2005-12-01

Introduction - SeaRover is envisioned as an autonomous surface vehicle (ASV) for coastal operations. It is intended to lower the cost of existing marine survey applications while enabling new science missions. The current conceptual design is a small vehicle with hull and propulsion system optimized to eliminate cavitation and EM noise. SeaRover will make significant advances over existing platforms by providing longer duration science missions, better positioning and mission control, larger power budgets for instrumentation and significantly lower operational costs than existing vehicles. Science Enabled by SeaRover - SeaRover's unique design and autonomous capability provides several advantages compared to traditional autonomous underwater vehicles (AUV's) and crewed surface vessels: (1) Near surface sampling: SeaRover can sample within the top 1-2 meters. This is difficult to do with crewed vessels because of draft and perturbations from the hull. (2) Adaptive monitoring of dynamic events: SeaRover will be capable of intelligent decision making, as well as real-time remote control. This will enable highly-responsive autonomous tracking of moving phenomena (e.g., algal bloom). (3) Long term monitoring: SeaRover can be deployed for extended periods of time, allowing it to be used for longitudinal baseline studies. SeaRover will represent an advance over existing platforms in terms of: (1) Mobility: operational range from 10-1000 km, GPS accuracy, trajectory control with meter precision, and launch in hours. (2) Duration: from days up to months. (3) Payload and Power: accommodate approximately 100 kg for a 6m hull. Its surface design will allow access to wind and sun energy. (4) Communication: radio, wireless, satellite, direct data return. (5) Operational Cost: target costs are $2K/day (24 hour operation), with no onboard operator. (6) Recovery/Reusability: autonomous return to safe harbor provides sample return and on-base maintenance. Large science and power payload simplifies instrument design and integration. Enabling Technology for SeaRover - SeaRover's capabilities are made possible by advances in technologies developed during NASA planetary exploration missions: (1) Adaptive control (2) Automated data analysis (3) Communications management (4) Computer vision (5) Interactive 3D User Interfaces (6) Intelligent energy management (7) Long-duration operations planning (8) Multi-vehicle coordinated action As an example of what SeaRover could be used for, we envision augmenting existing monthly monitoring cruises in Monterey Bay with a SeaRover. Each month, the Center for Integrated Marine Technology (UC-Santa Cruz) conducts shipboard surveys of Monterey Bay. This requires 2-3 full days of ship time (weather dependent), 14 scientists, and 2 crew members. Operations are currently limited by sea-state, transit speed, and cost. SeaRover could provide all of the underway measurements and some of the hydrographic station measurements faster, more frequently, and for a fraction of the cost.

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

PubMed Central

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

2017-01-01

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

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.

The PanCam Instrument for the ExoMars Rover

PubMed Central

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

2017-01-01

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

Some useful innovations with TRASYS and SINDA-85

NASA Technical Reports Server (NTRS)

Amundsen, Ruth M.

1993-01-01

Several innovative methods were used to allow more efficient and accurate thermal analysis using SINDA-85 and TRASYS, including model integration and reduction, planetary surface calculations, and model animation. Integration with other modeling and analysis codes allows an analyst to import a geometry from a solid modeling or computer-aided design (CAD) software package, rather than building the geometry 'by hand.' This is more efficient as well as potentially more accurate. However, the use of solid modeling software often generates large analytical models. The problem of reducing large models was elegantly solved using the response of the transient derivative to a forcing step function. The thermal analysis of a lunar rover implemented two unusual features of the TRASYS/SINDA system. A little-known TRASYS routine SURFP calculates the solar heating of a rover on the lunar surface for several different rover positions and orientations. This is used not only to determine the rover temperatures, but also to automatically determine the power generated by the solar arrays. The animation of transient thermal results is an effective tool, especially in a vivid case such as the 14-day progress of the sun over the lunar rover. An animated color map on the solid model displays the progression of temperatures.

Development of a Coherent Lidar for Aiding Precision Soft Landing on Planetary Bodies

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Pierrottet, Diego; Tolson, Robert H.; Powell, Richard W.; Davidson, John B.; Peri, Frank

2005-01-01

Coherent lidar can play a critical role in future planetary exploration missions by providing key guidance, navigation, and control (GNC) data necessary for navigating planetary landers to the pre-selected site and achieving autonomous safe soft-landing. Although the landing accuracy has steadily improved over time to approximately 35 km for the recent Mars Exploration Rovers due to better approach navigation, a drastically different guidance, navigation and control concept is required to meet future mission requirements. For example, future rovers will require better than 6 km landing accuracy for Mars and better than 1 km for the Moon plus maneuvering capability to avoid hazardous terrain features. For this purpose, an all-fiber coherent lidar is being developed to address the call for advancement of entry, descent, and landing technologies. This lidar will be capable of providing precision range to the ground and approach velocity data, and in the case of landing on Mars, it will also measure the atmospheric wind and density. The lidar obtains high resolution range information from a frequency modulated-continuous wave (FM-CW) laser beam whose instantaneous frequency varies linearly with time, and the ground vector velocity is directly extracted from the Doppler frequency shift. Utilizing the high concentration of aerosols in the Mars atmosphere (approx. two order of magnitude higher than the Earth), the lidar can measure wind velocity with a few watts of optical power. Operating in 1.57 micron wavelength regime, the lidar can use the differential absorption (DIAL) technique to measure the average CO2 concentration along the laser beam using, that is directly proportional to the Martian atmospheric density. Employing fiber optics components allows for the lidar multi-functional operation while facilitating a highly efficient, compact and reliable design suitable for integration into a spacecraft with limited mass, size, and power resources.

Perspectives future space on robotics

NASA Technical Reports Server (NTRS)

Lavery, Dave

1994-01-01

Last year's flight of the German ROTEX robot flight experiment heralded the start of a new era for space robotics. ROTEX is the first of at least 10 new robotic systems and experiments that will fly before 2000. These robots will augment astronaut on-orbit capabilities and extend virtual human presence to lunar and planetary surfaces. The robotic systems to be flown in the next five years fall into three categories: extravehicular robotic (EVR) servicers, science payload servicers, and planetary surface rovers. A description of the work on these systems is presented.

The Potential of Phased Arrays for Planetary Exploration

NASA Astrophysics Data System (ADS)

Pogorzelski, Ronald J.

2000-01-01

Phased array antennas provide a set of operational capabilities which are very attractive for certain mission applications and not very attractive for others. Such antennas are by no means a panacea for telecommunications. In this paper the features of phased arrays are reviewed and their implications for space missions are considered in terms of benefits and costs. The primary capability provided by a phased array is electronic beam agility. The beam direction may be controlled at electronic speeds (vs. mechanical actuation) permitting time division multiplexing of multiple "users." Moreover, the beam direction can be varied over a full hemisphere (for a planar array). On the other hand, such antennas are typically much more complicated than the more commonly used reflectors and horns and this implies higher cost. In some applications, this increased cost must be accepted if the mission is to be carried out at all. The SIR-C radar is an example of such a case albeit not for deep space. Assuming for the sake of argument that the complexity and cost of a phased array can be significantly reduced, where can such antennas be of value in the future of planetary exploration? Potential applications to be discussed are planetary rovers, landers, and orbiters including both the areosynchronous and low orbit varieties. In addition, consideration is given to links from deep space to earth. As may be fairly obvious, the deep space link to earth would not benefit from the wide angle steering capability provided by a phase array whereas a rover could gain advantage from the capability to steer a beam anywhere in the sky. In the rover case, however, physical size of the aperture becomes a significant factor which, of course, has implications regarding the choice of frequency band. Recent research work concerning phased arrays has suggested that future phased arrays might be made less complex and, therefore, less costly. Successful realization of such phased arrays would enable many of the planetary missions discussed in this paper and significantly broaden the telecommunications capabilities available to the mission designers of the future.

Rover exploration on the lunar surface; a science proposal for SELENE-B mission

NASA Astrophysics Data System (ADS)

Sasaki, S.; Kubota, T.; Akiyama, H.; Hirata, N.; Kunii, Y.; Matsumoto, K.; Okada, T.; Otake, M.; Saiki, K.; Sugihara, T.

LUNARSURFACE:ASCIENCES. Sasaki (1), T. Kubota (2) , H. Akiyama (1) , N. Hirata (3), Y. Kunii (4), K. Matsumoto (5), T. Okada (2), M. Otake (3), K. Saiki (6), T. Sugihara (3) (1) Department of Earth and Planetary Science, Univ. Tokyo, (2) Institute of Space and Astronautical Sciences, (3) National Space Development Agency of Japan, (4) Department of Electrical and Electronic Engineering, Chuo Univ., (5) National Aerospace Laboratory of Japan, (6) Research Institute of Materials and Resources, Akita Univ. sho@eps.s.u -tokyo.ac.jp/Fax:+81-3-5841-4569 A new lunar landing mission (SELENE-B) is now in consideration in Japan. Scientific investigation plans using a rover are proposed. To clarify the origin and evolution of the moon, the early crustal formation and later mare volcanic processes are still unveiled. We proposed two geological investigation plans: exploration of a crater central peak to discover subsurface materials and exploration of dome-cone structures on young mare region. We propose multi-band macro/micro camera using AOTF, X-ray spectrometer/diffractometer and gamma ray spectrometer. Since observation of rock fragments in brecciaed rocks is necessary, the rover should have cutting or scraping mechanism of rocks. In our current scenario, landing should be performed about 500m from the main target (foot of a crater central peak or a cone/dome). After the spectral survey by multi-band camera on the lander, the rover should be deployed for geological investigation. The rover should make a short (a few tens meter) round trip at first, then it should perform traverse observation toward the main target. Some technological investigations on SELENE-B project will be also presented.

Mechanism for Deploying a Long, Thin-Film Antenna from a Rover

NASA Technical Reports Server (NTRS)

Lazio, Joseph; Matthews, B.; Nesnas, Issa A.; Zarzhitsky, Dimitri

2013-01-01

Observations with radio telescopes address key problems in cosmology, astrobiology, heliophysics, and planetary science including the first light in the Universe (Cosmic Dawn), magnetic fields of extrasolar planets, particle acceleration mechanisms, and the lunar ionosphere. The Moon is a unique science platform because it allows access to radio frequencies that do not penetrate the Earth's ionosphere and because its far side is shielded from intense terrestrial emissions. A radio antenna can be realized by using polyimide film as a substrate, with a conducting substance deposited on it. Such an antenna can be rolled into a small volume for transport, then deployed by unrolling, and a robotic rover offers a natural means of unrolling a polyimide film-based antenna. An antenna deployment mechanism was developed that allows a thin film to be deposited onto a ground surface, in a controlled manner, using a minimally actuated rover. The deployment mechanism consists of two rollers, one driven and one passive. The antenna film is wrapped around the driven roller. The passive roller is mounted on linear bearings that allow it to move radially with respect to the driven roller. Springs preload the passive roller against the driven roller, and prevent the tightly wrapped film from unspooling or "bird's nesting" on the driven spool. The antenna deployment mechanism is integrated on the minimally-actuated Axel rover. Axel is a two-wheeled rover platform with a trailing boom that is capable of traversing undulated terrain and overcoming obstacles of a wheel radius in height. It is operated by four motors: one that drives each wheel; a third that controls the rotation of the boom, which orients the body mounted sensors; and a fourth that controls the rover's spool to drive the antenna roller. This low-mass axle-like rover houses its control and communication avionics inside its cylindrical body. The Axel rover teleoperation software has an auto-spooling mode that allows a user to automatically deploy the thin-film antenna at a rate proportional to the wheel speed as it drives the rover along its trajectory. The software allows Axel to deposit the film onto the ground to prevent or minimize relative motion between the film and the terrain to avoid the risk of scraping and antenna with the terrain.

Perception, planning, and control for walking on rugged terrain

NASA Technical Reports Server (NTRS)

Simmons, Reid; Krotkov, Eric

1991-01-01

The CMU Planetary Rover project is developing a six-legged walking robot capable of autonomously navigating, exploring, and acquiring samples in rugged, unknown environments. To gain experience with the problems involved in walking on rugged terrain, a full-scale prototype leg was built and mounted on a carriage that rolls along overhead rails. Issues addressed in developing the software system to autonomously walk the leg through rugged terrain are described. In particular, the insights gained into perceiving and modeling rugged terrain, controlling the legged mechanism, interacting with the ground, choosing safe yet effective footfalls, and planning efficient leg moves through space are described.

Disturbing Pop-Tart

NASA Technical Reports Server (NTRS)

1997-01-01

The Sojourner rover's front right camera imaged Pop-tart, a small rock or indurated soil material which was pushed out of the surrounding drift material by Sojourner's front left wheel during a soil mechanics experiment.

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is a division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

Experiments with a small behaviour controlled planetary rover

NASA Technical Reports Server (NTRS)

Miller, David P.; Desai, Rajiv S.; Gat, Erann; Ivlev, Robert; Loch, John

1993-01-01

A series of experiments that were performed on the Rocky 3 robot is described. Rocky 3 is a small autonomous rover capable of navigating through rough outdoor terrain to a predesignated area, searching that area for soft soil, acquiring a soil sample, and depositing the sample in a container at its home base. The robot is programmed according to a reactive behavior control paradigm using the ALFA programming language. This style of programming produces robust autonomous performance while requiring significantly less computational resources than more traditional mobile robot control systems. The code for Rocky 3 runs on an eight bit processor and uses about ten k of memory.

The ExoMars science data archive: status and plans

NASA Astrophysics Data System (ADS)

Heather, David

2016-07-01

The ExoMars program, a cooperation between ESA and Roscosmos, comprises two missions: the Trace Gas Orbiter, to be launched in 2016, and a rover and surface platform, due for launch in 2018. This will be the first time ESA has operated a rover, and the archiving and management of the science data to be returned will require a significant effort in development of the new Planetary Science Archive (PSA). The ExoMars mission data will also be formatted according to the new PDS4 Standards, based in XML, and this will be the first data of that format to be archived in the PSA. There are significant differences in the way in which a scientist will want to query, retrieve, and use data from a suite of rover instruments as opposed to remote sensing instrumentation from an orbiter. The PSA data holdings and the accompanying services are currently driven more towards the management of remote sensing data, so some significant changes will be needed. Among them will be a much closer link to the operational information than is currently available for our missions. NASA have a strong user community interaction with their analysts notebook, which provides detailed operational information to explain why, where and when operations took place. A similar approach will be needed for the future PSA, which is currently being designed. In addition to the archiving interface itself, there are differences with the overall archiving process being followed for ExoMars compared to previous ESA planetary missions. The Trace Gas Orbiter data pipelines for the first level of processing from telemetry to raw data, will be hosted directly by ESA's ground segment at ESAC in Madrid, where the archive itself resides. Data will have a continuous flow direct to the PSA, where after the given proprietary period, it will be directly released to the community via the new user interface. For the rover mission, the data pipelines are being developed by European industry, in close collaboration with ESA PSA experts and with the instrument teams. The first level of data processing will be carried out for all instruments at ALTEC in Turin where the pipelines are developed, and from where the rover operations will also be run. The PDS4 data will be directly produced and used for planning purposes within the operations centre before being passed on the the PSA for long term archiving. While this has clear advantages in the long-term regarding the timely population of the archive with at least the first level of data, the outsourcing of the pipelines to industry introduces complications. Firstly, it is difficult to have the necessary expertise on hand to train the individuals designing the pipelines, and to define the archiving conventions needed to meet the scientific needs of the mission. It also introduces issues in terms of driving the schedule, as industry is committed to making deliveries within fixed budgets and time-frames that may not necessarily be in line with the needs of archiving, and may not be able to respond well to the ongoing evolution of the PDS4 standards. This presentation will focus on the challenges involved in archiving rover data for the PSA, and will outline the plans and current status of the system being developed to respond to the needs of the mission.

Planetary Sample Caching System Design Options

NASA Technical Reports Server (NTRS)

Collins, Curtis; Younse, Paulo; Backes, Paul

2009-01-01

Potential Mars Sample Return missions would aspire to collect small core and regolith samples using a rover with a sample acquisition tool and sample caching system. Samples would need to be stored in individual sealed tubes in a canister that could be transfered to a Mars ascent vehicle and returned to Earth. A sample handling, encapsulation and containerization system (SHEC) has been developed as part of an integrated system for acquiring and storing core samples for application to future potential MSR and other potential sample return missions. Requirements and design options for the SHEC system were studied and a recommended design concept developed. Two families of solutions were explored: 1)transfer of a raw sample from the tool to the SHEC subsystem and 2)transfer of a tube containing the sample to the SHEC subsystem. The recommended design utilizes sample tool bit change out as the mechanism for transferring tubes to and samples in tubes from the tool. The SHEC subsystem design, called the Bit Changeout Caching(BiCC) design, is intended for operations on a MER class rover.

Integration and Utilization of Nuclear Systems on the Moon and Mars

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

Houts, Michael G.; Schmidt, George R.; Bragg-Sitton, Shannon

2006-01-20

Over the past five decades numerous studies have identified nuclear energy as an enhancing or enabling technology for planetary surface exploration missions. This includes both radioisotope and fission sources for providing both heat and electricity. Nuclear energy sources were used to provide electricity on Apollo missions 12, 14, 15, 16, and 17, and on the Mars Viking landers. Very small nuclear energy sources were used to provide heat on the Mars Pathfinder, Spirit, and Opportunity rovers. Research has been performed at NASA MSFC to help assess potential issues associated with surface nuclear energy sources, and to generate data that couldmore » be useful to a future program. Research areas include System Integration, use of Regolith as Radiation Shielding, Waste Heat Rejection, Surface Environmental Effects on the Integrated System, Thermal Simulators, Surface System Integration / Interface / Interaction Testing, End-to-End Breadboard Development, Advanced Materials Development, Surface Energy Source Coolants, and Planetary Surface System Thermal Management and Control. This paper provides a status update on several of these research areas.« less

Novel 3D imaging techniques for improved understanding of planetary surface geomorphology.

NASA Astrophysics Data System (ADS)

Muller, Jan-Peter

2015-04-01

Understanding the role of different planetary surface formation processes within our Solar System is one of the fundamental goals of planetary science research. There has been a revolution in planetary surface observations over the past decade for Mars and the Moon, especially in 3D imaging of surface shape (down to resolutions of 75cm) and subsequent correction for terrain relief of imagery from orbiting and co-registration of lander and rover robotic images. We present some of the recent highlights including 3D modelling of surface shape from the ESA Mars Express HRSC (High Resolution Stereo Camera), see [1], [2] at 30-100m grid-spacing; and then co-registered to HRSC using a resolution cascade of 20m DTMs from NASA MRO stereo-CTX and 0.75m DTMs from MRO stereo-HiRISE [3]. This has opened our eyes to the formation mechanisms of megaflooding events, such as the formation of Iani Vallis and the upstream blocky terrain, to crater lakes and receding valley cuts [4]. A comparable set of products is now available for the Moon from LROC-WA at 100m [5] and LROC-NA at 1m [6]. Recently, a very novel technique for the super-resolution restoration (SRR) of stacks of images has been developed at UCL [7]. First examples shown will be of the entire MER-A Spirit rover traverse taking a stack of 25cm HiRISE to generate a corridor of SRR images along the rover traverse of 5cm imagery of unresolved features such as rocks, created as a consequence of meteoritic bombardment, ridge and valley features. This SRR technique will allow us for ˜400 areas on Mars (where 5 or more HiRISE images have been captured) and similar numbers on the Moon to resolve sub-pixel features. Examples will be shown of how these SRR images can be employed to assist with the better understanding of surface geomorphology. Acknowledgements: The research leading to these results has received funding from the European Union's Seventh Framework Programme (FP7/2007-2013) under PRoViDE grant agreement n° 312377. Partial support is also provided from the STFC 'MSSL Consolidated Grant' ST/K000977/1. References: [1] Gwinner, K., F. et al. (2010) Topography of Mars from global mapping by HRSC high-resolution digital terrain models and orthoimages: characteristics and performance. Earth and Planetary Science Letters 294, 506-519, doi:10.1016/j.epsl.2009.11.007, 2010; [2] Gwinner, K., F. et al. (2015) MarsExpress High Resolution Stereo Camera (HRSC) Multi-orbit Data Products: Methodology, Mapping Concepts and Performance for the first Quadrangle (MC-11E). Geophysical Research Abstracts, Vol. 17, EGU2015-13832; [3] Kim, J., & Muller, J. (2009). Multi-resolution topographic data extraction from Martian stereo imagery. Planetary and Space Science, 57, 2095-2112. doi:10.1016/j.pss.2009.09.024; [4] Warner, N. H., Gupta, S., Kim, J.-R., Muller, J.-P., Le Corre, L., Morley, J., et al. (2011). Constraints on the origin and evolution of Iani Chaos, Mars. Journal of Geophysical Research, 116(E6), E06003. doi:10.1029/2010JE003787; [5] Fok, H. S., Shum, C. K., Yi, Y., Araki, H., Ping, J., Williams, J. G., et al. (2011). Accuracy assessment of lunar topography models. Earth Planets Space, 63, 15-23. doi:10.5047/eps.2010.08.005; [6] Haase, I., Oberst, J., Scholten, F., Wählisch, M., Gläser, P., Karachevtseva, I., & Robinson, M. S. (2012). Mapping the Apollo 17 landing site area based on Lunar Reconnaissance Orbiter Camera images and Apollo surface photography - Haase - 2012 - Journal of Geophysical Research: Planets (1991-2012). Journal of Geophysical Research, 117, E00H20. doi:10.1029/2011JE003908; [7] Tao, Y., Muller, J.-P. (2015) Supporting lander and rover operation: a novel super-resolution restoration technique. Geophysical Research Abstracts, Vol. 17, EGU2015-6925

Intelligent Rover Execution for Detecting Life in the Atacama Desert

NASA Technical Reports Server (NTRS)

Baskaran, Vijayakumar; Muscettola, Nicola; Rijsman, David; Plaunt, Chris; Fry, Chuck

2006-01-01

On-board supervisory execution is crucial for the deployment of more capable and autonomous remote explorers. Planetary science is considering robotic explorers operating for long periods of time without ground supervision while interacting with a changing and often hostile environment. Effective and robust operations require on-board supervisory control with a high level of awareness of the principles of functioning of the environment and of the numerous internal subsystems that need to be coordinated. We describe an on-board rover executive that was deployed on a rover as past of the "Limits of Life in the Atacama Desert (LITA)" field campaign sponsored by the NASA ASTEP program. The executive was built using the Intelligent Distributed Execution Architecture (IDEA), an execution framework that uses model-based and plan-based supervisory control of its fundamental computational paradigm. We present the results of the third field experiment conducted in the Atacama desert (Chile) in August - October 2005.

KSC-2012-3318

NASA Image and Video Library

2012-06-12

CAPE CANAVERAL, Fla. – The solar array on the prototype rover Artemis Jr. for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project soaks up the sunlight during a rover demonstration for media representatives 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

The Role of Geologic Mapping in NASA PDSI Planning

NASA Astrophysics Data System (ADS)

Williams, D. A.; Skinner, J. A.; Radebaugh, J.

2017-12-01

Geologic mapping is an investigative process designed to derive the geologic history of planetary objects at local, regional, hemispheric or global scales. Geologic maps are critical products that aid future exploration by robotic spacecraft or human missions, support resource exploration, and provide context for and help guide scientific discovery. Creation of these tools, however, can be challenging in that, relative to their terrestrial counterparts, non-terrestrial planetary geologic maps lack expansive field-based observations. They rely, instead, on integrating diverse data types wth a range of spatial scales and areal coverage. These facilitate establishment of geomorphic and geologic context but are generally limited with respect to identifying outcrop-scale textural details and resolving temporal and spatial changes in depositional environments. As a result, planetary maps should be prepared with clearly defined contact and unit descriptions as well as a range of potential interpretations. Today geologic maps can be made from images obtained during the traverses of the Mars rovers, and for every new planetary object visited by NASA orbital or flyby spacecraft (e.g., Vesta, Ceres, Titan, Enceladus, Pluto). As Solar System Exploration develops and as NASA prepares to send astronauts back to the Moon and on to Mars, the importance of geologic mapping will increase. In this presentation, we will discuss the past role of geologic mapping in NASA's planetary science activities and our thoughts on the role geologic mapping will have in exploration in the coming decades. Challenges that planetary mapping must address include, among others: 1) determine the geologic framework of all Solar System bodies through the systematic development of geologic maps at appropriate scales, 2) develop digital Geographic Information Systems (GIS)-based mapping techniques and standards to assist with communicating map information to the scientific community and public, 3) develop public awareness of the role and application of geologic map-information to the resolution of national issues relevant to planetary science and eventual off-planet resource assessments, 4) use topical science to drive mapping in areas likely to be determined vital to the welfare of endeavors related to planetary science and exploration.

Lunar Resource Utilization: Development of a Reactor for Volatile Extraction from Regolith

NASA Technical Reports Server (NTRS)

Kleinhenz, Julie E.; Sacksteder, Kurt R.; Nayagam, Vedha

2007-01-01

The extraction and processing of planetary resources into useful products, known as In- Situ Resource Utilization (ISRU), will have a profound impact on the future of planetary exploration. One such effort is the RESOLVE (Regolith and Environment Science, Oxygen and Lunar Volatiles Extraction) Project, which aims to extract and quantify these resources. As part of the first Engineering Breadboard Unit, the Regolith Volatiles Characterization (RVC) reactor was designed and built at the NASA Glenn Research Center. By heating and agitating the lunar regolith, loosely bound volatiles, such as hydrogen and water, are released and stored in the reactor for later analysis and collection. Intended for operation on a robotic rover, the reactor features a lightweight, compact design, easy loading and unloading of the regolith, and uniform heating of the regolith by means of vibrofluidization. The reactor performance was demonstrated using regolith simulant, JSC1, with favorable results.

Strontium iodide gamma ray spectrometers for planetary science (Conference Presentation)

NASA Astrophysics Data System (ADS)

Prettyman, Thomas H.; Rowe, Emmanuel; Butler, Jarrhett; Groza, Michael; Burger, Arnold; Yamashita, Naoyuki; Lambert, James L.; Stassun, Keivan G.; Beck, Patrick R.; Cherepy, Nerine J.; Payne, Stephen A.; Castillo-Rogez, Julie C.; Feldman, Sabrina M.; Raymond, Carol A.

2016-09-01

Gamma rays produced passively by cosmic ray interactions and by the decay of radioelements convey information about the elemental makeup of planetary surfaces and atmospheres. Orbital missions mapped the composition of the Moon, Mars, Mercury, Vesta, and now Ceres. Active neutron interrogation will enable and/or enhance in situ measurements (rovers, landers, and sondes). Elemental measurements support planetary science objectives as well as resource utilization and planetary defense initiatives. Strontium iodide, an ultra-bright scintillator with low nonproportionality, offers significantly better energy resolution than most previously flown scintillators, enabling improved accuracy for identification and quantification of key elements. Lanthanum bromide achieves similar resolution; however, radiolanthanum emissions obscure planetary gamma rays from radioelements K, Th, and U. The response of silicon-based optical sensors optimally overlaps the emission spectrum of strontium iodide, enabling the development of compact, low-power sensors required for space applications, including burgeoning microsatellite programs. While crystals of the size needed for planetary measurements (>100 cm3) are on the way, pulse-shape corrections to account for variations in absorption/re-emission of light are needed to achieve maximum resolution. Additional challenges for implementation of large-volume detectors include optimization of light collection using silicon-based sensors and assessment of radiation damage effects and energetic-particle induced backgrounds. Using laboratory experiments, archived planetary data, and modeling, we evaluate the performance of strontium iodide for future missions to small bodies (asteroids and comets) and surfaces of the Moon and Venus. We report progress on instrument design and preliminary assessment of radiation damage effects in comparison to technology with flight heritage.

Determining best practices in reconnoitering sites for habitability potential on Mars using a semi-autonomous rover: A GeoHeuristic Operational Strategies Test.

PubMed

Yingst, R A; Berger, J; Cohen, B A; Hynek, B; Schmidt, M E

2017-03-01

We tested science operations strategies developed for use in remote mobile spacecraft missions, to determine whether reconnoitering a site of potential habitability prior to in-depth study (a walkabout-first strategy) can be a more efficient use of time and resources than the linear approach commonly used by planetary rover missions. Two field teams studied a sedimentary sequence in Utah to assess habitability potential. At each site one team commanded a human "rover" to execute observations and conducted data analysis and made follow-on decisions based solely on those observations. Another team followed the same traverse using traditional terrestrial field methods, and the results of the two teams were compared. Test results indicate that for a mission with goals similar to our field case, the walkabout-first strategy may save time and other mission resources, while improving science return. The approach enabled more informed choices and higher team confidence in choosing where to spend time and other consumable resources. The walkabout strategy may prove most efficient when many close sites must be triaged to a smaller subset for detailed study or sampling. This situation would arise when mission goals include finding, identifying, characterizing or sampling a specific material, feature or type of environment within a certain area.

A survey of planning and scheduling research at the NASA Ames Research Center

NASA Technical Reports Server (NTRS)

Zweben, Monte

1989-01-01

NASA Ames Research Center has a diverse program in planning and scheduling. Some research projects as well as some applications are highlighted. Topics addressed include machine learning techniques, action representations and constraint-based scheduling systems. The applications discussed are planetary rovers, Hubble Space Telescope scheduling, and Pioneer Venus orbit scheduling.

Integrating Depth and Image Sequences for Planetary Rover Mapping Using Rgb-D Sensor

NASA Astrophysics Data System (ADS)

Peng, M.; Wan, W.; Xing, Y.; Wang, Y.; Liu, Z.; Di, K.; Zhao, Q.; Teng, B.; Mao, X.

2018-04-01

RGB-D camera allows the capture of depth and color information at high data rates, and this makes it possible and beneficial integrate depth and image sequences for planetary rover mapping. The proposed mapping method consists of three steps. First, the strict projection relationship among 3D space, depth data and visual texture data is established based on the imaging principle of RGB-D camera, then, an extended bundle adjustment (BA) based SLAM method with integrated 2D and 3D measurements is applied to the image network for high-precision pose estimation. Next, as the interior and exterior elements of RGB images sequence are available, dense matching is completed with the CMPMVS tool. Finally, according to the registration parameters after ICP, the 3D scene from RGB images can be registered to the 3D scene from depth images well, and the fused point cloud can be obtained. Experiment was performed in an outdoor field to simulate the lunar surface. The experimental results demonstrated the feasibility of the proposed method.

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

NASA Astrophysics Data System (ADS)

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

2011-10-01

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

A Science Rationale for Mobility in Planetary Environments

NASA Technical Reports Server (NTRS)

1999-01-01

For the last several decades, the Committee on Planetary and Lunar Exploration (COMPLEX) has advocated a systematic approach to exploration of the solar system; that is, the information and understanding resulting from one mission provide the scientific foundations that motivate subsequent, more elaborate investigations. COMPLEX's 1994 report, An Integrated Strategy for the Planetary Sciences: 1995-2010,1 advocated an approach to planetary studies emphasizing "hypothesizing and comprehending" rather than "cataloging and categorizing." More recently, NASA reports, including The Space Science Enterprise Strategic Plan2 and, in particular, Mission to the Solar System: Exploration and Discovery-A Mission and Technology Roadmap,3 have outlined comprehensive plans for planetary exploration during the next several decades. The missions outlined in these plans are both generally consistent with the priorities outlined in the Integrated Strategy and other NRC reports,4-5 and are replete with examples of devices embodying some degree of mobility in the form of rovers, robotic arms, and the like. Because the change in focus of planetary studies called for in the Integrated Strategy appears to require an evolutionary change in the technical means by which solar system exploration missions are conducted, the Space Studies Board charged COMPLEX to review the science that can be uniquely addressed by mobility in planetary environments. In particular, COMPLEX was asked to address the following questions: (1) What are the practical methods for achieving mobility? (2) For surface missions, what are the associated needs for sample acquisition? (3) What is the state of technology for planetary mobility in the United States and elsewhere, and what are the key requirements for technology development? (4) What terrestrial field demonstrations are required prior to spaceflight missions?

A Scientific Rationale for Mobility in Planetary Environments

NASA Astrophysics Data System (ADS)

1999-01-01

For the last several decades, the COMmittee on Planetary and Lunar EXploration (COMPLEX) has advocated a systematic approach to exploration of the solar system; that is, the information and understanding resulting from one mission provide the scientific foundations that motivate subsequent, more elaborate investigations. COMPLEX's 1994 report, An Integrated Strategy for the Planetary Sciences: 1995-2010,1 advocated an approach to planetary studies emphasizing "hypothesizing and comprehending" rather than "cataloging and categorizing." More recently, NASA reports, including The Space Science Enterprise Strategic Plan' and, in particular, Mission to the Solar System: Exploration and Discovery-A Mission and Technology Roadmap, 3 have outlined comprehensive plans for planetary exploration during the next several decades. The missions outlined in these plans are both generally consistent with the priorities outlined in the Integrated Strategy and other NRC reports,4,5 and are replete with examples of devices embodying some degree of mobility in the form of rovers, robotic arms, and the like. Because the change in focus of planetary studies called for in the Integrated Strategy appears to require an evolutionary change in the technical means by which solar system exploration missions are conducted, the Space Studies Board charged COMPLEX to review the science that can be uniquely addressed by mobility in planetary environments. In particular, COMPLEX was asked to address the following questions: 1. What are the practical methods for achieving mobility? 2. For surface missions, what are the associated needs for sample acquisition? 3. What is the state of technology for planetary mobility in the United States and elsewhere, and what are the key requirements for technology development? 4. What terrestrial field demonstrations are required prior to spaceflight 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.

Some Useful Innovations with Trasys and Sinda-85

NASA Technical Reports Server (NTRS)

Amundsen, Ruth M.

1993-01-01

Several innovative methods have been used to allow more efficient and accurate thermal analysis using SINDA-85 and TRASYS, including model integration and reduction, planetary surface calculations, and model animation. Integration with other modeling and analysis codes allows an analyst to import a geometry from a solid modeling or computer-aided design (CAD) software package, rather than building the geometry "by hand." This is more efficient as well as potentially more accurate. However, the use of solid modeling software often generates large analytical models. The problem of reducing large models has been elegantly solved using the response of the transient derivative to a forcing step function. The thermal analysis of a lunar rover implemented two unusual features of the TRASYS/SINDA system. A little-known TRASYS routine SURFP calculates the solar heating of a rover on the lunar surface for several different rover positions and orientations. This is used not only to determine the rover temperatures, but also to automatically determine the power generated by the solar arrays. The animation of transient thermal results is an effective tool, especially in a vivid case such as the 14-day progress of the sun over the lunar rover. An animated color map on the solid model displays the progression of temperatures.

Evolution of space drones for planetary exploration: A review

NASA Astrophysics Data System (ADS)

Hassanalian, M.; Rice, D.; Abdelkefi, A.

2018-02-01

In the past decade, there has been a tendency to design and fabricate drones which can perform planetary exploration. Generally, there are various ways to study space objects, such as the application of telescopes and satellites, launching robots and rovers, and sending astronauts to the targeted solar bodies. However, due to the advantages of drones compared to other approaches in planetary exploration, ample research has been carried out by different space agencies in the world, including NASA to apply drones in other solar bodies. In this review paper, several studies which have been performed on space drones for planetary exploration are consolidated and discussed. Design and fabrication challenges of space drones, existing methods for their flight tests, different methods for deployment and planet entry, and various navigation and control approaches are reviewed and discussed elaborately. Limitations of applying space drones, proposed solutions for future space drones, and recommendations are also presented and discussed.

Control strategies for planetary rover motion and manipulator control

NASA Technical Reports Server (NTRS)

Trautwein, W.

1973-01-01

An unusual insect-like vehicle designed for planetary surface exploration is made the occasion for a discussion of control concepts in path selection, hazard detection, obstacle negotiation, and soil sampling. A control scheme which actively articulates the pitching motion between a single-loop front module and a dual loop rear module leads to near optimal behavior in soft soil; at the same time the vehicle's front module acts as a reliable tactile forward probe with a detection range much longer than the stopping distance. Some optimal control strategies are discussed, and the photos of a working scale model are displayed.

Planetary mission summaries. Volume 1: Introduction and overview

NASA Technical Reports Server (NTRS)

1974-01-01

Tabular synopses of twelve missions are presented along with the Mariner Jupiter/Saturn 1977 mission for comparison. Mission definitions considered include: Mars Polar Orbiter; Mars Surface Sample Return; Mars Rover; Marine Jupiter/Uranus 1979 with Uranus Entry Probe; Mariner Jupiter Orbiter; Mariner Mercury Orbiter 1978; Early Mariner Comet Flyby Solar Electric Encke Slow Flyby; Mariner Encke Ballistic Flyby; Solar Electric Encke Rendezvous 1981; Venus Orbital Imaging Radar; Solar Electric Out-of-the-Eliptic Probe 1979. Technical conclusions of mission studies are given in order that these results may interact with the broader questions of scope, pace, and priorities in the planetary exploration program.

Data acquisition and path selection decision making for an autonomous roving vehicle

NASA Technical Reports Server (NTRS)

Frederick, D. K.; Shen, C. N.; Yerazunis, S. W.

1976-01-01

Problems related to the guidance of an autonomous rover for unmanned planetary exploration were investigated. Topics included in these studies were: simulation on an interactive graphics computer system of the Rapid Estimation Technique for detection of discrete obstacles; incorporation of a simultaneous Bayesian estimate of states and inputs in the Rapid Estimation Scheme; development of methods for estimating actual laser rangefinder errors and their application to date provided by Jet Propulsion Laboratory; and modification of a path selection system simulation computer code for evaluation of a hazard detection system based on laser rangefinder data.

Second Annual HEDS-UP Forum

NASA Technical Reports Server (NTRS)

Duke, Michael B. (Editor)

1999-01-01

HEDS-UP (Human Exploration and Development of Space-University Partners) conducted its second annual forum on May 6-7, 1999, at the Lunar and Planetary Institute in Houston. This year, the topics focused on human exploration of Mars, including considerations ranging from systems analysis of the transportation and surface architecture to very detailed considerations of surface elements such as greenhouses, rovers, and EVA suits. Ten undergraduate projects and four graduate level projects were presented with a total of 13 universities from around the country. Over 200 students participated on the study teams and nearly 100 students attended the forum meeting.

Planning For Multiple NASA Missions With Use Of Enabling Radioisotope Power

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

S.G. Johnson; K.L. Lively; C.C. Dwight

Since the early 1960’s the Department of Energy (DOE) and its predecessor agencies have provided radioisotope power systems (RPS) to NASA as an enabling technology for deep space and various planetary missions. They provide reliable power in situations where solar and/or battery power sources are either untenable or would place an undue mass burden on the mission. In the modern era of the past twenty years there has been no time that multiple missions have been considered for launching from Kennedy Space Center (KSC) during the same year. The closest proximity of missions that involved radioisotope power systems would bemore » that of Galileo (October 1989) and Ulysses (October 1990). The closest that involved radioisotope heater units would be the small rovers Spirit and Opportunity (May and July 2003) used in the Mars Exploration Rovers (MER) mission. It can be argued that the rovers sent to Mars in 2003 were essentially a special case since they staged in the same facility and used a pair of small launch vehicles (Delta II). This paper examines constraints on the frequency of use of radioisotope power systems with regard to launching them from Kennedy Space Center using currently available launch vehicles. This knowledge may be useful as NASA plans for its future deep space or planetary missions where radioisotope power systems are used as an enabling technology. Previous descriptions have focused on single mission chronologies and not analyzed the timelines with an emphasis on multiple missions.« less

Interdisciplinary Research Produces Results in the Understanding of Planetary Dunes

NASA Astrophysics Data System (ADS)

Titus, Timothy N.; Hayward, Rosalyn Kay; Bourke, Mary C.

2010-08-01

Second International Planetary Dunes Workshop: Planetary Analogs—Integrating Models, Remote Sensing, and Field Data; Alamosa, Colorado, 18-21 May 2010; Dunes and other eolian bed forms are prominent on several planetary bodies in our solar system. Despite 4 decades of study, many questions remain regarding the composition, age, and origins of these features, as well as the climatic conditions under which they formed. Recently acquired data from orbiters and rovers, together with terrestrial analogs and numerical models, are providing new insights into Martian sand dunes, as well as eolian bed forms on other terrestrial planetary bodies (e.g., Titan). As a means of bringing together terrestrial and planetary researchers from diverse backgrounds with the goal of fostering collaborative interdisciplinary research, the U.S. Geological Survey (USGS), the Carl Sagan Center for the Study of Life in the Universe, the Desert Research Institute, and the U.S. National Park Service held a workshop in Colorado. The small group setting facilitated intensive discussion of problems and issues associated with eolian processes on Earth, Mars, and Titan.

Ongoing Mars Missions: Extended Mission Plans

NASA Astrophysics Data System (ADS)

Zurek, Richard; Diniega, Serina; Crisp, Joy; Fraeman, Abigail; Golombek, Matt; Jakosky, Bruce; Plaut, Jeff; Senske, David A.; Tamppari, Leslie; Thompson, Thomas W.; Vasavada, Ashwin R.

2016-10-01

Many key scientific discoveries in planetary science have been made during extended missions. This is certainly true for the Mars missions both in orbit and on the planet's surface. Every two years, ongoing NASA planetary missions propose investigations for the next two years. This year, as part of the 2016 Planetary Sciences Division (PSD) Mission Senior Review, the Mars Odyssey (ODY) orbiter project submitted a proposal for its 7th extended mission, the Mars Exploration Rover (MER-B) Opportunity submitted for its 10th, the Mars Reconnaissance Orbiter (MRO) for its 4th, and the Mars Science Laboratory (MSL) Curiosity rover and the Mars Atmosphere and Volatile Evolution (MVN) orbiter for their 2nd extended missions, respectively. Continued US participation in the ongoing Mars Express Mission (MEX) was also proposed. These missions arrived at Mars in 2001, 2004, 2006, 2012, 2014, and 2003, respectively. Highlights of proposed activities include systematic observations of the surface and atmosphere in twilight (early morning and late evening), building on a 13-year record of global mapping (ODY); exploration of a crater rim gully and interior of Endeavour Crater, while continuing to test what can and cannot be seen from orbit (MER-B); refocused observations of ancient aqueous deposits and polar cap interiors, while adding a 6th Mars year of change detection in the atmosphere and the surface (MRO); exploration and sampling by a rover of mineralogically diverse strata of Mt. Sharp and of atmospheric methane in Gale Crater (MSL); and further characterization of atmospheric escape under different solar conditions (MVN). As proposed, these activities follow up on previous discoveries (e.g., recurring slope lineae, habitable environments), while expanding spatial and temporal coverage to guide new detailed observations. An independent review panel evaluated these proposals, met with project representatives in May, and made recommendations to NASA in June 2016. In this presentation, we will highlight the planned activities of these NASA Mars missions, as they start new chapters in their historic exploration of the dynamic and complex planet that is Mars.

Artificial Intelligence Support for Landing Site Selection on Mars

NASA Astrophysics Data System (ADS)

Rongier, G.; Pankratius, V.

2017-12-01

Mars is a key target for planetary exploration; a better understanding of its evolution and habitability requires roving in situ. Landing site selection is becoming more challenging for scientists as new instruments generate higher data volumes. The involved engineering and scientific constraints make site selection and the anticipation of possible onsite actions into a complex optimization problem: there may be multiple acceptable solutions depending on various goals and assumptions. Solutions must also account for missing data, errors, and potential biases. To address these problems, we propose an AI-informed decision support system that allows scientists, mission designers, engineers, and committees to explore alternative site selection choices based on data. In particular, we demonstrate first results of an exploratory case study using fuzzy logic and a simulation of a rover's mobility map based on the fast marching algorithm. Our system computes favorability maps of the entire planet to facilitate landing site selection and allows a definition of different configurations for rovers, science target priorities, landing ellipses, and other constraints. For a rover similar to NASA's Mars 2020 rover, we present results in form of a site favorability map as well as four derived exploration scenarios that depend on different prioritized scientific targets, all visualizing inherent tradeoffs. Our method uses the NASA PDS Geosciences Node and the NASA/ICA Integrated Database of Planetary Features. Under common assumptions, the data products reveal Eastern Margaritifer Terra and Meridiani Planum to be the most favorable sites due to a high concentration of scientific targets and a flat, easily navigable surface. Our method also allows mission designers to investigate which constraints have the highest impact on the mission exploration potential and to change parameter ranges. Increasing the elevation limit for landing, for example, provides access to many additional, more interesting sites on the southern terrains of Mars. The speed of current rovers is another limit to exploration capabilities: our system helps quantify how speed increases can improve the number of reachable targets in the search space. We acknowledge support from NASA AISTNNX15AG84G (PI Pankratius) and NSF ACI1442997 (PI Pankratius).

Planetary Surface Exploration Using Time-Resolved Laser Spectroscopy on Rovers and Landers

NASA Astrophysics Data System (ADS)

Blacksberg, Jordana; Alerstam, Erik; Maruyama, Yuki; Charbon, Edoardo; Rossman, George

2013-04-01

Planetary surface exploration using laser spectroscopy has become increasingly relevant as these techniques become a reality on Mars surface missions. The ChemCam instrument onboard the Curiosity rover is currently using laser induced breakdown spectroscopy (LIBS) on a mast-mounted platform to measure elemental composition of target rocks. The RLS Raman Spectrometer is included on the payload for the ExoMars mission to be launched in 2018 and will identify minerals and organics on the Martian surface. We present a next-generation instrument that builds on these widely used techniques to provide a means for performing both Raman spectroscopy and LIBS in conjunction with microscopic imaging. Microscopic Raman spectroscopy with a laser spot size smaller than the grains of interest can provide surface mapping of mineralogy while preserving morphology. A very small laser spot size (~ 1 µm) is often necessary to identify minor phases that are often of greater interest than the matrix phases. In addition to the difficulties that can be posed by fine-grained material, fluorescence interference from the very same material is often problematic. This is particularly true for many of the minerals of interest that form in environments of aqueous alteration and can be highly fluorescent. We use time-resolved laser spectroscopy to eliminate fluorescence interference that can often make it difficult or impossible to obtain Raman spectra. As an added benefit, we have found that with small changes in operating parameters we can include microscopic LIBS using the same hardware. This new technique relies on sub-ns, high rep-rate lasers with relatively low pulse energy and compact solid state detectors with sub-ns time resolution. The detector technology that makes this instrument possible is a newly developed Single-Photon Avalanche Diode (SPAD) sensor array based on Complementary Metal-Oxide Semiconductor (CMOS) technology. The use of this solid state time-resolved detector offers a significant reduction in size, weight, power, and overall complexity - making time resolved detection feasible for planetary applications. We will discuss significant advances leading to the feasibility of a compact time-resolved spectrometer. We will present results on planetary analog minerals to demonstrate the instrument performance including fluorescence rejection and combined Raman-LIBS capability.

Proceedings of the 8th Annual Summer Conference: NASA/USRA Advanced Design Program

NASA Technical Reports Server (NTRS)

1992-01-01

Papers presented at the 8th Annual Summer Conference are categorized as Space Projects and Aeronautics projects. Topics covered include: Systematic Propulsion Optimization Tools (SPOT), Assured Crew Return Vehicle Post Landing Configuration Design and Test, Autonomous Support for Microorganism Research in Space, Bioregenerative System Components for Microgravity, The Extended Mission Rover (EMR), Planetary Surface Exploration MESUR/Autonomous Lunar Rover, Automation of Closed Environments in Space for Human Comfort and Safety, Walking Robot Design, Extraterrestrial Surface Propulsion Systems, The Design of Four Hypersonic Reconnaissance Aircraft, Design of a Refueling Tanker Delivering Liquid Hydrogen, The Design of a Long-Range Megatransport Aircraft, and Solar Powered Multipurpose Remotely Powered Aircraft.

A Modular Habitation System for Human Planetary and Space Exploration

NASA Technical Reports Server (NTRS)

Howe, A. Scott

2015-01-01

A small-diameter modular pressure vessel system is devised that can be applied to planetary surface and deep space human exploration missions. As one of the recommendations prepared for the NASA Human Spaceflight Architecture Team (HAT) Evolvable Mars Campaign (EMC), a compact modular system can provide a Mars-forward approach to a variety of missions and environments. Small cabins derived from the system can fit into the Space Launch System (SLS) Orion "trunk", or can be mounted with mobility systems to function as pressurized rovers, in-space taxis, ascent stage cabins, or propellant tanks. Larger volumes can be created using inflatable elements for long-duration deep space missions and planetary surface outposts. This paper discusses how a small-diameter modular system can address functional requirements, mass and volume constraints, and operational scenarios.

Robotic Technology Efforts at the NASA/Johnson Space Center

NASA Technical Reports Server (NTRS)

Diftler, Ron

2017-01-01

The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center’s Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of “dull, dirty or dangerous” tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center’s newest development areas can provide crew with low mass exercise capability and also augment an astronaut’s strength while wearing a space suit.This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center’s Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.

Robotic Technology Efforts at the NASA/Johnson Space Center

NASA Technical Reports Server (NTRS)

Diftler, Ron

2017-01-01

The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center's Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of "dull, dirty or dangerous" tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center's newest development areas can provide crew with low mass exercise capability and also augment an astronaut's strength while wearing a space suit. This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center's Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.

SOLAR SYSTEM EXPLORATION: NASA Blasted for Rising Costs, Cancellations.

PubMed

Lawler, A

2000-12-01

When NASA cancelled a project last month that would have sent a tiny rover crawling over an asteroid, the community of planetary scientists issued a public tongue lashing of the agency. Its letter warned of larger problems in the U.S. program caused by spiraling costs and recommended a sweeping reexamination of the outer solar system effort.

Java PathExplorer: A Runtime Verification Tool

NASA Technical Reports Server (NTRS)

Havelund, Klaus; Rosu, Grigore; Clancy, Daniel (Technical Monitor)

2001-01-01

We describe recent work on designing an environment called Java PathExplorer for monitoring the execution of Java programs. This environment facilitates the testing of execution traces against high level specifications, including temporal logic formulae. In addition, it contains algorithms for detecting classical error patterns in concurrent programs, such as deadlocks and data races. An initial prototype of the tool has been applied to the executive module of the planetary Rover K9, developed at NASA Ames. In this paper we describe the background and motivation for the development of this tool, including comments on how it relates to formal methods tools as well as to traditional testing, and we then present the tool itself.

Cartography of the Luna-21 landing site and Lunokhod-2 traverse area based on Lunar Reconnaissance Orbiter Camera images and surface archive TV-panoramas

NASA Astrophysics Data System (ADS)

Karachevtseva, I. P.; Kozlova, N. A.; Kokhanov, A. A.; Zubarev, A. E.; Nadezhdina, I. E.; Patratiy, V. D.; Konopikhin, A. A.; Basilevsky, A. T.; Abdrakhimov, A. M.; Oberst, J.; Haase, I.; Jolliff, B. L.; Plescia, J. B.; Robinson, M. S.

2017-02-01

The Lunar Reconnaissance Orbiter Camera (LROC) system consists of a Wide Angle Camera (WAC) and Narrow Angle Camera (NAC). NAC images (∼0.5 to 1.7 m/pixel) reveal details of the Luna-21 landing site and Lunokhod-2 traverse area. We derived a Digital Elevation Model (DEM) and an orthomosaic for the study region using photogrammetric stereo processing techniques with NAC images. The DEM and mosaic allowed us to analyze the topography and morphology of the landing site area and to map the Lunokhod-2 rover route. The total range of topographic elevation along the traverse was found to be less than 144 m; and the rover encountered slopes of up to 20°. With the orthomosaic tied to the lunar reference frame, we derived coordinates of the Lunokhod-2 landing module and overnight stop points. We identified the exact rover route by following its tracks and determined its total length as 39.16 km, more than was estimated during the mission (37 km), which until recently was a distance record for planetary robotic rovers held for more than 40 years.

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.

Full Field X-Ray Fluorescence Imaging Using Micro Pore Optics for Planetary Surface Exploration

NASA Technical Reports Server (NTRS)

Sarrazin, P.; Blake, D. F.; Gailhanou, M.; Walter, P.; Schyns, E.; Marchis, F.; Thompson, K.; Bristow, T.

2016-01-01

Many planetary surface processes leave evidence as small features in the sub-millimetre scale. Current planetary X-ray fluorescence spectrometers lack the spatial resolution to analyse such small features as they only provide global analyses of areas greater than 100 mm(exp 2). A micro-XRF spectrometer will be deployed on the NASA Mars 2020 rover to analyse spots as small as 120m. When using its line-scanning capacity combined to perpendicular scanning by the rover arm, elemental maps can be generated. We present a new instrument that provides full-field XRF imaging, alleviating the need for precise positioning and scanning mechanisms. The Mapping X-ray Fluorescence Spectrometer - "Map-X" - will allow elemental imaging with approximately 100µm spatial resolution and simultaneously provide elemental chemistry at the scale where many relict physical, chemical and biological features can be imaged in ancient rocks. The arm-mounted Map-X instrument is placed directly on the surface of an object and held in a fixed position during measurements. A 25x25 mm(exp 2) surface area is uniformly illuminated with X-rays or alpha-particles and gamma-rays. A novel Micro Pore Optic focusses a fraction of the emitted X-ray fluorescence onto a CCD operated at a few frames per second. On board processing allows measuring the energy and coordinates of each X-ray photon collected. Large sets of frames are reduced into 2d histograms used to compute higher level data products such as elemental maps and XRF spectra from selected regions of interest. XRF spectra are processed on the ground to further determine quantitative elemental compositions. The instrument development will be presented with an emphasis on the characterization and modelling of the X-ray focussing Micro Pore Optic. An outlook on possible alternative XRF imaging applications will be discussed.

Planetary Surface Exploration Using Raman Spectroscopy on Rovers and Landers

NASA Astrophysics Data System (ADS)

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

2013-10-01

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

Developing a Planetary Spatial Data Infrastructure for Evaluating Landing Sites and Performing Surface Operations for the Mars 2020 Lander

NASA Astrophysics Data System (ADS)

Fergason, R. L.; Laura, J.; Hare, T. M.; Otero, R.; Edgar, L. A.

2017-12-01

A Spatial Data Infrastructure (SDI) is a robust framework for data and data products, metadata, data access mechanisms, standards, policy, and a user community that helps to define and standardize the data necessary to meet some specified goal. The primary objective of an SDI is to improve communication, to enhance data access, and to aid in identifying gaps in knowledge. We are developing an SDI that describes the foundational data sets and accuracy requirements to evaluate landing site safety, facilitate the successful operation of Terrain Relative Navigation (TRN), and assist in the operation of the rover once it has successfully landed on Mars. Thru current development efforts, an implicit SDI exists for the Mars 2020 mission. An explicit SDI will allow us to identify any potential gaps in knowledge, facilitate communication between the different institutions involved in landing site evaluation and TRN development, and help ensure a smooth transition from landing to surface operations. This SDI is currently relevant to the Mars 2020 rover mission, but can also serve as a means to document current requirements for foundational data products and standards for future landed missions to Mars and other planetary bodies. To generate a Mars 2020-specific SDI, we must first document and rationalize data set and accuracy requirements for evaluating landing sites, performing surface operations, and inventorying Mars 2020 mission needs in terms of an SDI framework. This step will allow us to 1) evaluate and define what is needed for the acquisition of data and the generation and validation of data products, 2) articulate the accuracy and co-registration requirements, and 3) identify needs for data access (and eventual archiving). This SDI document will serve as a means to communicate the existing foundational products, standards that were followed in producing these products, and where and how these products can be accessed by the planetary community. This SDI will also facilitate discussions between the landing and surface operations groups to communicate the available data and identify unique needs to surface operations. Our goal is to continually review and update this SDI throughout the Mars 2020 landing site evaluation and operations, so that it remains relevant and effective as data availability and needs evolve.

Solar System atlas series on the Eötvös University, Budapest, Hungary: textbooks for space and planetary science education

NASA Astrophysics Data System (ADS)

Berczi, Sz.; Hargitai, H.; Horvath, A.; Illes, E.; Kereszturi, A.; Mortl, M.; Sik, A.; Weidinger, T.; Hegyi, S.; Hudoba, Gy.

Planetary science education needs new forms of teaching. Our group have various initiatives of which a new atlas series about the studies of the Solar System materials, planetary surfaces and atmospheres, instrumental field works with robots (landers, rovers) and other beautiful field work analog studies. Such analog studies are both used in comparative planetology as scientific method and it also plays a key role in planetary science education. With such initiatives the whole system of the knowledge of terrestrial geology can be transformed to the conditions of other planetary worlds. We prepared both courses and their textbooks in Eötvös University in space science education and edited the following educational materials worked out by the members of our space science education and research group: (1): Planetary and Material Maps on: Lunar Rocks, Meteorites (2000); (2): Investigating Planetary Surfaces with the Experimental Space Probe Hunveyor Constructed on the Basis of Surveyor (2001); (3): Atlas of Planetary Bodies (2001); (4): Atlas of Planetary Atmospheres (2002); (5): Space Research and Geometry (2002); (6): Atlas of Micro Environments of Planetary Surfaces (2003); (7): Atlas of Rovers and Activities on Planetary Surfaces (2004); (8): Space Research and Chemistry (2005); (9): Planetary Analog Studies and Simulations: Materials, Terrains, Morphologies, Processes. (2005); References: [1] Bérczi Sz., Hegyi S., Kovács Zs., Fabriczy A., Földi T., Keresztesi M., Cech V., Drommer B., Gránicz K., Hevesi L., Borbola T., Tóth Sz., Németh I., Horváth Cs., Diósy T., Kovács B., Bordás F., Köll˝ Z., Roskó F., Balogh Zs., Koris A., o 1 Imrek Gy. (Bérczi Sz., Kabai S. Eds.) (2002): Concise Atlas of the Solar System (2): From Surveyor to Hunveyor. How we constructed an experimental educational planetary lander model. UNICONSTANT. Budapest-Pécs-Szombathely-Püspökladány. [2] Bérczi Sz., Hargitai H., Illés E., Kereszturi Á., Sik A., Földi T., Hegyi S., Kovács Zs., Mörtl M., Weidinger T. (2004): Concise Atlas of the Solar System (6): Atlas of Microenvironments of Planetary surfaces. ELTE TTK Kozmikus Anyagokat Vizsgáló Ûrkutató Csoport, UNICONSTANT, Budapest-Püspökladány; [3] Szaniszló Bérczi, Henrik Hargitai, Ákos Kereszturi, András Sik (2005): Concise Atlas on the Solar System (3): Atlas of Planetary Bodies. ELTE TTK Kozmikus Anyagokat Vizsgáló Ûrkutató Csoport. Budapest, [4] Szaniszló Bérczi, Tivadar Földi, Péter Gadányi, Arnold Gucsik, Henrik Hargitai, Sándor Hegyi, György Hudoba, Sándor Józsa, Ákos Kereszturi, János Rakonczai, András Sik, György Szakmány, Kálmán Török (2005): Concise Atlas on the Solar System (9): Planetary Analog Studies and Simulations: Materials, Terrains, Morphologies, Processes. (Szaniszló Bérczi, editor) ELTE TTK Kozmikus Anyagokat Vizsgáló Ûrkutató Csoport, UNICONSTANT, Budapest-Püspökladány. 2

KSC-2012-3317

NASA Image and Video Library

2012-06-12

CAPE CANAVERAL, Fla. – NASA In Situ Resource Utilization Project Manager William Larson, back to camera, 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

KSC-2012-3313

NASA Image and Video Library

2012-06-12

CAPE CANAVERAL, Fla. – Media representatives discuss 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 NASA In Situ Resource Utilization Project Manager William Larson, facing the rover, 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

KSC-2012-3319

NASA Image and Video Library

2012-06-12

CAPE CANAVERAL, Fla. – NASA In Situ Resource Utilization Project Manager William Larson 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 for media representatives 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

Desert Research and Technology Studies 2005 Report

NASA Technical Reports Server (NTRS)

Ross, Amy J.; Kosmo, Joseph J.; Janoiko, Barbara A.; Bernard, Craig; Splawn, Keith; Eppler, Dean B.

2006-01-01

During the first two weeks of September 2005, the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) Advanced Extravehicular Activity (AEVA) team led the field test portion of the 2005 Research and Technology Studies (RATS). The Desert RATS field test activity is the culmination of the various individual science and advanced engineering discipline areas year-long technology and operations development efforts into a coordinated field test demonstration under representative (analog) planetary surface terrain conditions. The purpose of the RATS is to drive out preliminary exploration concept of operations EVA system requirements by providing hands-on experience with simulated planetary surface exploration extravehicular activity (EVA) hardware and procedures. The RATS activities also are of significant importance in helping to develop the necessary levels of technical skills and experience for the next generation of engineers, scientists, technicians, and astronauts who will be responsible for realizing the goals of the Constellation Program. The 2005 Desert RATS was the eighth RATS field test and was the most systems-oriented, integrated field test to date with participants from NASA field centers, the United States Geologic Survey (USGS), industry partners, and research institutes. Each week of the test, the 2005 RATS addressed specific sets of objectives. The first week focused on the performance of surface science astro-biological sampling operations, including planetary protection considerations and procedures. The second week supported evaluation of the Science, Crew, Operations, and Utility Testbed (SCOUT) proto-type rover and its sub-systems. Throughout the duration of the field test, the Communications, Avionics, and Infomatics pack (CAI-pack) was tested. This year the CAI-pack served to provide information on surface navigation, science sample collection procedures, and EVA timeline awareness. Additionally, 2005 was the first year since the Apollo program that two pressurized suited test subjects have worked together simultaneously. Another first was the demonstration of recharge of cryogenic life support systems while in-use by the suited test subjects. The recharge capability allowed the simulated EVA test duration to be doubled, facilitating SCOUT proto-type rover testing. This paper summarizes Desert RATS 2005 test hardware, detailed test objectives, test operations and test results.

Passengers on Voyages of Exploration: The Beautiful and Surprising Work Amateurs Can do with Raw Image Data from Planetary Missions

NASA Astrophysics Data System (ADS)

Lakdawalla, E. S.

2008-11-01

Many recent planetary science missions, including the Mars Exploration Rovers, Cassini-Huygens, and New Horizons, have instituted a policy of the rapid release of ``raw'' images to the Internet within days or even hours of their acquisition. The availability of these data, along with the increasing power of home computers and availability of high-bandwidth Internet connections, have stimulated the development of a worldwide community of armchair planetary scientists, who are able to participate in the everyday drama of exploratory missions' encounters with new worlds and new landscapes. Far from passive onlookers, many of these enthusiasts have taught themselves image processing techniques and have even written software to perform automated processing and mosaicking of these raw data sets. They rapidly produce stunning visualizations and then post them to their own blogs or online forums, where they also engage in discussing scientific observations and inferences about the data sets, broadening missions' public outreach efforts beyond their direct reach. These amateur space scientists feel a deep sense of involvement in and connection to space missions, which makes them enthusiastic (and occasionally demanding) supporters of space exploration.

Performance modelling of miniaturized flash-imaging lidars for future mars exploration missions

NASA Astrophysics Data System (ADS)

Mitev, V.; Pollini, A.; Haesler, J.; Pereira do Carmo, João.

2017-11-01

Future planetary exploration missions require the support of 3D vision in the GN&C during key spacecraft's proximity phases, namely: i) spacecraft precision and soft Landing on the planet's surface; ii) Rendezvous and Docking (RVD) between a Sample Canister (SC) and an orbiter spacecraft; iii) Rover Navigation (RN) on planetary surface. The imaging LiDARs are among the best candidate for such tasks [1-3]. The combination of measurement requirements and environmental conditions seems to find its optimum in the flash 3D LiDAR architecture. Here we present key steps is the evaluation of novelty light detectors and MOEMS (Micro-Opto- Electro-Mechanical Systems) technologies with respect to LiDAR system performance and miniaturization. The objectives of the project MILS (Miniaturized Imaging LiDAR System, Phase 1) concentrated on the evaluation of novel detection and scanning technologies for the miniaturization of 3D LiDARs intended for planetary mission. Preliminary designs for an elegant breadboard (EBB) for the three tasks stated above (Landing, RVD and RN) were proposed, based on results obtained with a numerical model developed in the project and providing the performances evaluation of imaging LiDARs.

First results in terrain mapping for a roving planetary explorer

NASA Technical Reports Server (NTRS)

Krotkov, E.; Caillas, C.; Hebert, M.; Kweon, I. S.; Kanade, Takeo

1989-01-01

To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. Researchers present a new algorithm to construct a geometric terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. They also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough terrain.

Yogi the rock - 3D

NASA Technical Reports Server (NTRS)

1997-01-01

Yogi, a rock taller than rover Sojourner, is the subject of this image, taken in stereo by the deployed Imager for Mars Pathfinder (IMP) on Sol 3. 3D glasses are necessary to identify surface detail. The soil in the foreground has been the location of multiple soil mechanics experiments performed by Sojourner's cleated wheels. Pathfinder scientists were able to control the force inflicted on the soil beneath the rover's wheels, giving them insight into the soil's mechanical properties. The soil mechanics experiments were conducted after this image was taken.

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is an operating division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

Click below to see the left and right views individually. [figure removed for brevity, see original site] Left [figure removed for brevity, see original site] Right

The Planetary Data System Information Model for Geometry Metadata

NASA Astrophysics Data System (ADS)

Guinness, E. A.; Gordon, M. K.

2014-12-01

The NASA Planetary Data System (PDS) has recently developed a new set of archiving standards based on a rigorously defined information model. An important part of the new PDS information model is the model for geometry metadata, which includes, for example, attributes of the lighting and viewing angles of observations, position and velocity vectors of a spacecraft relative to Sun and observing body at the time of observation and the location and orientation of an observation on the target. The PDS geometry model is based on requirements gathered from the planetary research community, data producers, and software engineers who build search tools. A key requirement for the model is that it fully supports the breadth of PDS archives that include a wide range of data types from missions and instruments observing many types of solar system bodies such as planets, ring systems, and smaller bodies (moons, comets, and asteroids). Thus, important design aspects of the geometry model are that it standardizes the definition of the geometry attributes and provides consistency of geometry metadata across planetary science disciplines. The model specification also includes parameters so that the context of values can be unambiguously interpreted. For example, the reference frame used for specifying geographic locations on a planetary body is explicitly included with the other geometry metadata parameters. The structure and content of the new PDS geometry model is designed to enable both science analysis and efficient development of search tools. The geometry model is implemented in XML, as is the main PDS information model, and uses XML schema for validation. The initial version of the geometry model is focused on geometry for remote sensing observations conducted by flyby and orbiting spacecraft. Future releases of the PDS geometry model will be expanded to include metadata for landed and rover spacecraft.

Public Outreach Program of the Planetary society of Japan

NASA Astrophysics Data System (ADS)

Iyori, Tasuku

2002-01-01

The Planetary Society of Japan, TPS/J, was founded on October 6, 1999 as the first international wing of The Planetary Society. The Society's objectives are to support exploration of the solar system and search for extraterrestrial life at the grass-roots level in terms of enhancing Japanese people's concern and interest in them. With close-knit relationships with the Institute of Space and Astronautical Science, ISAS, and The Planetary Society, TPS/J has been trying to fulfil its goal. Introduced below are major public outreach programs. Planetary Report in Japanese The key vehicle that reaches members. The publication is offered to members together with the English issue every two months. Reprint of Major Texts from The Planetary Report for Science Magazine Major texts from The Planetary Report are reprinted in Nature Science, the science magazine with monthly circulation of 20,000. The science monthly has been published with an aim to provide an easier access to science. Website: http://www.planetary.or.jp A mainstay of the vehicle to reach science-minded people. It covers planetary news on a weekly basis, basics of the solar system and space exploring missions. In order to obtain support of many more people, the weekly email magazine is also provided. It has been enjoying outstanding popularity among subscribers thanks to inspiring commentaries by Dr. Yasunori Matogawa, the professor of ISAS. Public Outreach Events TPS/J's first activity of this kind was its participation in the renowned open-house event at ISAS last August. The one-day event has attracted 20,000 visitors every summer. TPS/J joined the one-day event with the Red Rover, Red Rover project for children, exhibition of winning entries of the international space art contest and introduction of SETI@home. TPS/J also participated in a couple of other planetary events, sponsored by local authorities. TPS/J will continue to have an opportunity to get involved in these public events Tie-up with the special television program is another major involvement of TPS/J in terms of reaching a mass of people. NHK, the largest television broadcasting network of Japan, aired the two-hour television program, "Mars is our planet." The program was developed upon space arts describing Mars after a hundred years with children and adults participated in. It was also intended as an educational tool particularly for children and young people in an effort to enhance their understanding and interest in the importance of planetary science and interplanetary exploration. The theme of the program is terraforming Mars for the sake of the future of humankind. Four more fifteen-minute versions will be produced. TPS/J will make best use of those programs to convince people to support philosophy of its mission. Public Campaign for MUSES-C Mission Launch for this year The world's first asteroid sample return mission, MUSES-C, is scheduled to be launched in November this year. TPS/J will join forces in this mission by running a publicity campaign on a worldwide scale. "Let's meet your Little Prince!," the idea of which is derived from "Le Petit Prince" by Saint-Exupery is its publicity slogan. The target of the mission is Asteroid 1998 F36 with 600 meters x 300 meters in size, orbiting 1.0 AU- 1.6 AU from the Earth. TPS/J is planning to fly names of a million of people aboard the spacecraft. Through public outreach programs mentioned above, TPS/J will encourage people to support and expand its mission as a non-government space-related organization.

A Notional Example of Understanding Human Exploration Traverses on the Lunar Surface

NASA Technical Reports Server (NTRS)

Gruener, John

2012-01-01

Mr. Gruener received an M.S. in physical science, with an emphasis in planetary geology, from the University of Houston-Clear Lake in 1994. He then began working with NASA JSC.s Solar System Exploration Division on the development of prototype planetary science instruments, the development of a mineral-based substrate for nutrient delivery to plant growth systems in bio-regenerative life support systems, and in support of the Mars Exploration Rover missions in rock and mineral identification. In 2004, Mr. Gruener again participated in a renewed effort to plan and design missions to the Moon, Mars, and beyond. He participated in many exploration planning activities, including NASA.s Exploration Systems Architecture Study (ESAS), Global Exploration Strategy Workshop, Lunar Architecture Team 1 and 2, Constellation Lunar Architecture Team, the Global Point of Departure Lunar Exploration Team, and the NASA Advisory Council (NAC) Workshop on Science Associated with the Lunar Exploration Architecture. Mr. Gruener has also been an active member of the science team supporting NASA.s Desert Research and Technology Studies (RATS).

Worldwide Telescope as an earth and planetary science educational platform

NASA Astrophysics Data System (ADS)

Fatland, D. R.; Rush, K.; van Ingen, C.; Wong, C.; Fay, J.; Xu, Y.; Fay, D.

2009-12-01

Worldwide Telescope (WWT) -available at no cost from Microsoft Research as both Windows desktop and web browser applications - enables personal computers to function as virtual telescopes for viewing the earth, the solar system and the cosmos across many wavelengths. Bringing together imagery from ground and space-based telescopes as well as photography from Mars rovers and Apollo astronauts, WWT is designed to work as both a research tool and a platform for educational exploration. Central to the latter purpose is the Tour authoring facility which enables a student or educator to create narrative stories with dynamic perspective, voice-over narrative, background sound and superimposed content. We describe here the application of recent developments in WWT, particularly the 2009 updates, towards planetary science education with particular emphasis on WWT earth models. Two core themes informing this development are the notions of enabling social networking through WWT Communities and including the earth as part of the bigger picture, in effect swinging the telescope around from the deep sky to look back at our observatory. moon, earth (WWT solar system view)

A survey of planning and scheduling research at the NASA Ames Research Center

NASA Technical Reports Server (NTRS)

Zweben, Monte

1988-01-01

NASA Ames Research Center has a diverse program in planning and scheduling. This paper highlights some of our research projects as well as some of our applications. Topics addressed include machine learning techniques, action representations and constraint-based scheduling systems. The applications discussed are planetary rovers, Hubble Space Telescope scheduling, and Pioneer Venus orbit scheduling.

The PICWidget

NASA Technical Reports Server (NTRS)

Norris, Jeffrey; Fox, Jason; Rabe, Kenneth; Shu, I-Hsiang; Powell, Mark

2007-01-01

The Plug-in Image Component Widget (PICWidget) is a software component for building digital imaging applications. The component is part of a methodology described in GIS Methodology for Planning Planetary-Rover Operations (NPO-41812), which appears elsewhere in this issue of NASA Tech Briefs. Planetary rover missions return a large number and wide variety of image data products that vary in complexity in many ways. Supported by a powerful, flexible image-data-processing pipeline, the PICWidget can process and render many types of imagery, including (but not limited to) thumbnail, subframed, downsampled, stereoscopic, and mosaic images; images coregistred with orbital data; and synthetic red/green/blue images. The PICWidget is capable of efficiently rendering images from data representing many more pixels than are available at a computer workstation where the images are to be displayed. The PICWidget is implemented as an Eclipse plug-in using the Standard Widget Toolkit, which provides a straightforward interface for re-use of the PICWidget in any number of application programs built upon the Eclipse application framework. Because the PICWidget is tile-based and performs aggressive tile caching, it has flexibility to perform faster or slower, depending whether more or less memory is available.

Scientific exploration of low-gravity planetary bodies using the Highland Terrain Hopper

NASA Astrophysics Data System (ADS)

Mège, D.; Grygorczuk, J.; Gurgurewicz, J.; Wiśniewski, Ł.; Rickman, H.; Banaszkiewicz, M.; Kuciński, T.; Skocki, K.

2013-09-01

Field geoscientists need to collect three-dimensional data in order characterise the lithologic succession and structure of terrains, recontruct their evolution, and eventually reveal the history of a portion of the planet. This is achieved by walking up and down mountains and valleys, interpreting geological and geophysical traverses, and reading measures made at station located at key sites on mountain peaks or rocky promontories. These activities have been denied to conventional planetary exploration rovers because engineering constraints for landing are strong, especially in terms of allowed terrain roughness and slopes. The Highland Terrain Hopper, a new, light and robust locomotion system, addresses the challenge of accessing most areas on low-gravity planetary body for performing scientific observations and measurements, alone or as part of a hopper commando. Examples of geological applications on Mars and the Moon are given.

ALI (Autonomous Lunar Investigator): Revolutionary Approach to Exploring the Moon with Addressable Reconfigurable Technology

NASA Technical Reports Server (NTRS)

Clark, P. E.; Curtis, S. A.; Rilee, M. L.; Floyd, S. R.

2005-01-01

Addressable Reconfigurable Technology (ART) based structures: Mission Concepts based on Addressable Reconfigurable Technology (ART), originally studied for future ANTS (Autonomous Nanotechnology Swarm) Space Architectures, are now being developed as rovers for nearer term use in lunar and planetary surface exploration. The architecture is based on the reconfigurable tetrahedron as a building block. Tetrahedra are combined to form space-filling networks, shaped for the required function. Basic structural components are highly modular, addressable arrays of robust nodes (tetrahedral apices) from which highly reconfigurable struts (tetrahedral edges), acting as supports or tethers, are efficiently reversibly deployed/stowed, transforming and reshaping the structures as required.

Camera Image Transformation and Registration for Safe Spacecraft Landing and Hazard Avoidance

NASA Technical Reports Server (NTRS)

Jones, Brandon M.

2005-01-01

Inherent geographical hazards of Martian terrain may impede a safe landing for science exploration spacecraft. Surface visualization software for hazard detection and avoidance may accordingly be applied in vehicles such as the Mars Exploration Rover (MER) to induce an autonomous and intelligent descent upon entering the planetary atmosphere. The focus of this project is to develop an image transformation algorithm for coordinate system matching between consecutive frames of terrain imagery taken throughout descent. The methodology involves integrating computer vision and graphics techniques, including affine transformation and projective geometry of an object, with the intrinsic parameters governing spacecraft dynamic motion and camera calibration.

Unveiling the Mysteries of Mars with a Miniaturized Variable Pressure Scanning Electron Microscope (MVP-SEM)

NASA Technical Reports Server (NTRS)

Edmunson, J.; Gaskin, J. A.; Doloboff, I. J.

2017-01-01

Development of a miniaturized scanning electron microscope that will utilize the martian atmosphere to dissipate charge during analysis continues. This instrument is expected to be used on a future rover or lander to answer fundamental Mars science questions. To identify the most important questions, a survey was taken at the 47th Lunar and Planetary Science Conference (LPSC). From the gathered information initial topics were identified for a SEM on the martian surface. These priorities are identified and discussed below. Additionally, a concept of operations is provided with the goal of maximizing the science obtained with the minimum amount of communication with the instrument.

Nuclear power systems for lunar and Mars exploration

NASA Technical Reports Server (NTRS)

Sovie, R. J.; Bozek, J. M.

1990-01-01

Initial studies of a variety of mission scenarios for the new Space Exploration Initiative, and the technologies necessary to enable or significantly enhance them, have identified the development of advanced space power systems whether solar, chemical or nuclear to be of prime importance. Lightweight, compact, reliable power systems for planetary rovers and a variety of surface vehicles, utility surface power, and power for advanced propulsion systems have been identified as critical needs for these missions. These mission scenarios, the concomitant power system requirements, and power system options considered are discussed. The significant potential benefits of nuclear power are identified for meeting the power needs of the above applications.

Curiosity Rover Martian Mission, Exaggerated Cross Section

NASA Image and Video Library

2016-12-13

This graphic depicts aspects of the driving distance, elevation, geological units and time intervals of NASA's Curiosity Mars rover mission, as of late 2016. The vertical dimension is exaggerated 14-fold compared with the horizontal dimension, for presentation-screen proportions. As of early December 2016, Curiosity had driven 9.3 miles (15 kilometers) since its August 2012 landing on the floor of Gale Crater near the base of Mount Sharp. It had climbed 541 feet (165 meters) in elevation. Elevation values shown on the vertical scale of this chart denote meters below an established zero-elevation level on Mars, which lacks a planetary "sea level." Because Curiosity is below the zero elevation, the numbers are negative. http://photojournal.jpl.nasa.gov/catalog/PIA21145

The ExoMars PanCam Instrument

NASA Astrophysics Data System (ADS)

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

2010-05-01

The ExoMars mission has evolved into a joint European-US mission to deliver a trace gas orbiter and a pair of rovers to Mars in 2016 and 2018 respectively. The European rover will carry the Pasteur exobiology payload including the 1.56 kg Panoramic Camera. PanCam will provide multispectral stereo images with 34 deg horizontal field-of-view (580 microrad/pixel) Wide-Angle Cameras (WAC) and (83 microrad/pixel) colour monoscopic "zoom" images with 5 deg horizontal field-of-view High Resolution Camera (HRC). The stereo Wide Angle Cameras (WAC) are based on Beagle 2 Stereo Camera System heritage [1]. Integrated with the WACs and HRC into the PanCam optical bench (which helps the instrument meet its planetary protection requirements) is the PanCam interface unit (PIU); which provides image storage, a Spacewire interface to the rover and DC-DC power conversion. The Panoramic Camera instrument is designed to fulfil the digital terrain mapping requirements of the mission [2] as well as providing multispectral geological imaging, colour and stereo panoramic images and solar images for water vapour abundance and dust optical depth measurements. The High Resolution Camera (HRC) can be used for high resolution imaging of interesting targets detected in the WAC panoramas and of inaccessible locations on crater or valley walls. Additionally HRC will be used to observe retrieved subsurface samples before ingestion into the rest of the Pasteur payload. In short, PanCam provides the overview and context for the ExoMars experiment locations, required to enable the exobiology aims of the mission. In addition to these baseline capabilities further enhancements are possible to PanCam to enhance it's effectiveness for astrobiology and planetary exploration: 1. Rover Inspection Mirror (RIM) 2. Organics Detection by Fluorescence Excitation (ODFE) LEDs [3-6] 3. UVIS broadband UV Flux and Opacity Determination (UVFOD) photodiode This paper will discuss the scientific objectives and resource impacts of these enhancements. References: 1. Griffiths, A.D., Coates, A.J., Josset, J.-L., Paar, G., Hofmann, B., Pullan, D., Ruffer, P., Sims, M.R., Pillinger, C.T., The Beagle 2 stereo camera system, Planet. Space Sci. 53, 1466-1488, 2005. 2. Paar, G., Oberst, J., Barnes, D.P., Griffiths, A.D., Jaumann, R., Coates, A.J., Muller, J.P., Gao, Y., Li, R., 2007, Requirements and Solutions for ExoMars Rover Panoramic Camera 3d Vision Processing, abstract submitted to EGU meeting, Vienna, 2007. 3. Storrie-Lombardi, M.C., Hug, W.F., McDonald, G.D., Tsapin, A.I., and Nealson, K.H. 2001. Hollow cathode ion lasers for deep ultraviolet Raman spectroscopy and fluorescence imaging. Rev. Sci. Ins., 72 (12), 4452-4459. 4. Nealson, K.H., Tsapin, A., and Storrie-Lombardi, M. 2002. Searching for life in the universe: unconventional methods for an unconventional problem. International Microbiology, 5, 223-230. 5. Mormile, M.R. and Storrie-Lombardi, M.C. 2005. The use of ultraviolet excitation of native fluorescence for identifying biomarkers in halite crystals. Astrobiology and Planetary Missions (R. B. Hoover, G. V. Levin and A. Y. Rozanov, Eds.), Proc. SPIE, 5906, 246-253. 6. Storrie-Lombardi, M.C. 2005. Post-Bayesian strategies to optimize astrobiology instrument suites: lessons from Antarctica and the Pilbara. Astrobiology and Planetary Missions (R. B. Hoover, G. V. Levin and A. Y. Rozanov, Eds.), Proc. SPIE, 5906, 288-301.

Mars Science Laboratory Planetary Protection Status

NASA Astrophysics Data System (ADS)

Benardini, James; La Duc, Myron; Naviaux, Keith; Samuels, Jessica

With over 500 sols of surface operations, the Mars Science Laboratory (MSL) Rover has trekked over 5km. A key finding along this journey thus far, is that water molecules are bound to fine-grained soil particles, accounting for about 2 percent of the particles' weight at Gale Crater where Curiosity landed. There is no concern to planetary protection as the finding resulted directly from SAM baking (100-835°C) out the soil for analysis. Over that temperature range, OH and/or H2O was released, which was bound in amorphous phases. MSL has completed an approved Post-Launch Report. The Project continues to be in compliance with planetary protection requirements as Curiosity continues its exploration and scientific discoveries there is no evidence suggesting the presence of a special region. There is no spacecraft induced special region and no currently flowing liquid. All systems of interest to planetary protection are functioning nominally. The project has submitted an extended mission request to the NASA PPO. The status of the PP activities will be reported.

A MATLAB based Distributed Real-time Simulation of Lander-Orbiter-Earth Communication for Lunar Missions

NASA Astrophysics Data System (ADS)

Choudhury, Diptyajit; Angeloski, Aleksandar; Ziah, Haseeb; Buchholz, Hilmar; Landsman, Andre; Gupta, Amitava; Mitra, Tiyasa

Lunar explorations often involve use of a lunar lander , a rover [1],[2] and an orbiter which rotates around the moon with a fixed radius. The orbiters are usually lunar satellites orbiting along a polar orbit to ensure visibility with respect to the rover and the Earth Station although with varying latency. Communication in such deep space missions is usually done using a specialized protocol like Proximity-1[3]. MATLAB simulation of Proximity-1 have been attempted by some contemporary researchers[4] to simulate all features like transmission control, delay etc. In this paper it is attempted to simulate, in real time, the communication between a tracking station on earth (earth station), a lunar orbiter and a lunar rover using concepts of Distributed Real-time Simulation(DRTS).The objective of the simulation is to simulate, in real-time, the time varying communication delays associated with the communicating elements with a facility to integrate specific simulation modules to study different aspects e.g. response due to a specific control command from the earth station to be executed by the rover. The hardware platform comprises four single board computers operating as stand-alone real time systems (developed by MATLAB xPC target and inter-networked using UDP-IP protocol). A time triggered DRTS approach is adopted. The earth station, the orbiter and the rover are programmed as three standalone real-time processes representing the communicating elements in the system. Communication from one communicating element to another constitutes an event which passes a state message from one element to another, augmenting the state of the latter. These events are handled by an event scheduler which is the fourth real-time process. The event scheduler simulates the delay in space communication taking into consideration the distance between the communicating elements. A unique time synchronization algorithm is developed which takes into account the large latencies in space communication. The DRTS setup thus developed serves as an important and inexpensive test bench for trying out remote controlled applications on the rover, for example, from an earth station. The simulation is modular and the system is composable. Each of the processes can be aug-mented with relevant simulation modules that handle the events to simulate specific function-alities. With stringent energy saving requirements on most rovers, such a simulation set up, for example, can be used to design optimal rover movement control strategies from the orbiter in conjunction with autonomous systems on the rover itself. References 1. Lunar and Planetary Department, Moscow University, Lunokhod 1, "http://selena.sai.msu.ru/Home/Spa 2. NASA History Office, Guidelines for Advanced Manned Space Vehicle Program, "http://history.nasa.gov 35ann/AMSVPguidelines/top.htm" 3. Consultative Committee For Space Data Systems, "Proximity-1 Space Link Protocol" CCSDS 211.0-B-1 Blue Book. October 2002. 4. Segui, J. and Jennings, E., "Delay Tolerant Networking-Bundle Protocol Simulation", in Proceedings of the 2nd IEEE International Conference on Space Mission Challenges for Infor-mation Technology, 2006.

Overview of Energy Storage Technologies for Space Applications

NASA Technical Reports Server (NTRS)

Surampudi, Subbarao

2006-01-01

This presentations gives an overview of the energy storage technologies that are being used in space applications. Energy storage systems have been used in 99% of the robotic and human space missions launched since 1960. Energy storage is used in space missions to provide primary electrical power to launch vehicles, crew exploration vehicles, planetary probes, and astronaut equipment; store electrical energy in solar powered orbital and surface missions and provide electrical energy during eclipse periods; and, to meet peak power demands in nuclear powered rovers, landers, and planetary orbiters. The power source service life (discharge hours) dictates the choice of energy storage technology (capacitors, primary batteries, rechargeable batteries, fuel cells, regenerative fuel cells, flywheels). NASA is planning a number of robotic and human space exploration missions for the exploration of space. These missions will require energy storage devices with mass and volume efficiency, long life capability, an the ability to operate safely in extreme environments. Advanced energy storage technologies continue to be developed to meet future space mission needs.

Planetary exploration through year 2000: An augmented program. Part two of a report by the Solar System Exploration Committee of the NASA Advisory Council

NASA Technical Reports Server (NTRS)

1986-01-01

In 1982, the NASA Solar System Exploration Committee (SSEC) published a report on a Core Program of planetary missions, representing the minimum-level program that could be carried out in a cost effective manner, and would yield a continuing return of basic scientific results. This is the second part of the SSEC report, describing missions of the highest scientific merit that lie outside the scope of the previously recommended Core Program because of their cost and technical challenge. These missions include the autonomous operation of a mobile scientific rover on the surface of Mars, the automated collection and return of samples from that planet, the return to Earth of samples from asteroids and comets, projects needed to lay the groundwork for the eventual utilization of near-Earth resources, outer planet missions, observation programs for extra-solar planets, and technological developments essential to make these missions possible.

A Unique Outside Neutron and Gamma Ray Instrumentation Development Test Facility at NASA's Goddard Space Flight Center

NASA Technical Reports Server (NTRS)

Bodnarik, J.; Evans, L.; Floyd, S.; Lim, L.; McClanahan, T.; Namkung, M.; Parsons, A.; Schweitzer, J.; Starr, R.; Trombka, J.

2010-01-01

An outside neutron and gamma ray instrumentation test facility has been constructed at NASA's Goddard Space Flight Center (GSFC) to evaluate conceptual designs of gamma ray and neutron systems that we intend to propose for future planetary lander and rover missions. We will describe this test facility and its current capabilities for operation of planetary in situ instrumentation, utilizing a l4 MeV pulsed neutron generator as the gamma ray excitation source with gamma ray and neutron detectors, in an open field with the ability to remotely monitor and operate experiments from a safe distance at an on-site building. The advantage of a permanent test facility with the ability to operate a neutron generator outside and the flexibility to modify testing configurations is essential for efficient testing of this type of technology. Until now, there have been no outdoor test facilities for realistically testing neutron and gamma ray instruments planned for solar system exploration

Preliminary assessment of rover power systems for the Mars Rover Sample Return Mission

NASA Technical Reports Server (NTRS)

Bents, D. J.

1989-01-01

Four isotope power system concepts were presented and compared on a common basis for application to on-board electrical prime power for an autonomous planetary rover vehicle. A representative design point corresponding to the Mars Rover Sample Return (MRSR) preliminary mission requirements (500 W) was selected for comparison purposes. All systems concepts utilize the General Purpose Heat Source (GPHS) isotope heat source developed by DOE. Two of the concepts employ thermoelectric (TE) conversion: one using the GPHS Radioisotope Thermoelectric Generator (RTG) used as a reference case, the other using an advanced RTG with improved thermoelectric materials. The other two concepts employed are dynamic isotope power systems (DIPS): one using a closed Brayton cycle (CBC) turboalternator, and the other using a free piston Stirling cycle engine/linear alternator (FPSE) with integrated heat source/heater head. Near-term technology levels have been assumed for concept characterization using component technology figure-of-merit values taken from the published literature. For example, the CBC characterization draws from the historical test database accumulated from space Brayton cycle subsystems and components from the NASA B engine through the mini-Brayton rotating unit. TE system performance is estimated from Voyager/multihundred Watt (MHW)-RTG flight experience through Mod-RTG performance estimates considering recent advances in TE materials under the DOD/DOE/NASA SP-100 and NASA Committee on Scientific and Technological Information programs. The Stirling DIPS system is characterized from scaled-down Space Power Demonstrator Engine (SPDE) data using the GPHS directly incorporated into the heater head. The characterization/comparison results presented here differ from previous comparison of isotope power (made for LEO applications) because of the elevated background temperature on the Martian surface compared to LEO, and the higher sensitivity of dynamic systems to elevated s

The Mars Science Laboratory Curiosity rover Mastcam instruments: Preflight and in-flight calibration, validation, and data archiving

NASA Astrophysics Data System (ADS)

Bell, J. F.; Godber, A.; McNair, S.; Caplinger, M. A.; Maki, J. N.; Lemmon, M. T.; Van Beek, J.; Malin, M. C.; Wellington, D.; Kinch, K. M.; Madsen, M. B.; Hardgrove, C.; Ravine, M. A.; Jensen, E.; Harker, D.; Anderson, R. B.; Herkenhoff, K. E.; Morris, R. V.; Cisneros, E.; Deen, R. G.

2017-07-01

The NASA Curiosity rover Mast Camera (Mastcam) system is a pair of fixed-focal length, multispectral, color CCD imagers mounted 2 m above the surface on the rover's remote sensing mast, along with associated electronics and an onboard calibration target. The left Mastcam (M-34) has a 34 mm focal length, an instantaneous field of view (IFOV) of 0.22 mrad, and a FOV of 20° × 15° over the full 1648 × 1200 pixel span of its Kodak KAI-2020 CCD. The right Mastcam (M-100) has a 100 mm focal length, an IFOV of 0.074 mrad, and a FOV of 6.8° × 5.1° using the same detector. The cameras are separated by 24.2 cm on the mast, allowing stereo images to be obtained at the resolution of the M-34 camera. Each camera has an eight-position filter wheel, enabling it to take Bayer pattern red, green, and blue (RGB) "true color" images, multispectral images in nine additional bands spanning 400-1100 nm, and images of the Sun in two colors through neutral density-coated filters. An associated Digital Electronics Assembly provides command and data interfaces to the rover, 8 Gb of image storage per camera, 11 bit to 8 bit companding, JPEG compression, and acquisition of high-definition video. Here we describe the preflight and in-flight calibration of Mastcam images, the ways that they are being archived in the NASA Planetary Data System, and the ways that calibration refinements are being developed as the investigation progresses on Mars. We also provide some examples of data sets and analyses that help to validate the accuracy and precision of the calibration.

Conceptual Design and Dynamics Testing and Modeling of a Mars Tumbleweed Rover

NASA Technical Reports Server (NTRS)

Calhoun Philip C.; Harris, Steven B.; Raiszadeh, Behzad; Zaleski, Kristina D.

2005-01-01

The NASA Langley Research Center has been developing a novel concept for a Mars planetary rover called the Mars Tumbleweed. This concept utilizes the wind to propel the rover along the Mars surface, bringing it the potential to cover vast distances not possible with current Mars rover technology. This vehicle, in its deployed configuration, must be large and lightweight to provide the ratio of drag force to rolling resistance necessary to initiate motion from rest on the Mars surface. One Tumbleweed design concept that satisfies these considerations is called the Eggbeater-Dandelion. This paper describes the basic design considerations and a proposed dynamics model of the concept for use in simulation studies. It includes a summary of rolling/bouncing dynamics tests that used videogrammetry to better understand, characterize, and validate the dynamics model assumptions, especially the effective rolling resistance in bouncing/rolling dynamic conditions. The dynamics test used cameras to capture the motion of 32 targets affixed to a test article s outer structure. Proper placement of the cameras and alignment of their respective fields of view provided adequate image resolution of multiple targets along the trajectory as the test article proceeded down the ramp. Image processing of the frames from multiple cameras was used to determine the target positions. Position data from a set of these test runs was compared with results of a three dimensional, flexible dynamics model. Model input parameters were adjusted to match the test data for runs conducted. This process presented herein provided the means to characterize the dynamics and validate the simulation of the Eggbeater-Dandelion concept. The simulation model was used to demonstrate full scale Tumbleweed motion from a stationary condition on a flat-sloped terrain using representative Mars environment parameters.

Solar discrepancies: Mars exploration and the curious problem of inter-planetary time

NASA Astrophysics Data System (ADS)

Mirmalek, Zara Lenora

The inter-planetary work system for the NASA's Mars Exploration Rovers (MER) mission entailed coordinating work between two corporally diverse workgroups, human beings and solar-powered robots, and between two planets with asynchronous axial rotations. The rotation of Mars takes approximately 24 hours and 40 minutes while for Earth the duration is 24 hours, a differential that was synchronized on Earth by setting a clock forward forty minutes every day. The hours of the day during which the solar-powered rovers were operational constituted the central consideration in the relationship between time and work around which the schedule of MER science operations were organized. And, the operational hours for the rovers were precarious for at least two reasons: on the one hand, the possibility of a sudden and inexplicable malfunction was always present; on the other, the rovers were powered by solar-charged batteries that could simply (and would eventually) fail. Thus, the timetable for the inter-planetary work system was scheduled according to the daily cycle of the sun on Mars and a version of clock time called Mars time was used to keep track of the movement of the sun on Mars. While the MER mission was a success, it does not necessarily follow that all aspects of mission operations were successful. One of the central problems that plagued the organization of mission operations was precisely this construct called "Mars time" even while it appeared that the use of Mars time was unproblematic and central to the success of the mission. In this dissertation, Zara Mirmalek looks at the construction of Mars time as a tool and as a social process. Of particular interest are the consequences of certain (ostensibly foundational) assumptions about the relationship between clock time and the conduct of work that contributed to making the relationship between Mars time and work on Earth appear operational. Drawing on specific examples of breakdowns of Mars time as a support technology and of the technologies supporting Mars time, Mirmalek explores some of the effects that follow from failing to recognize time as a socio-cultural construction that emerges, fundamentally, in and through a physical relationship between the environment and the human body. In this investigation of Mars time as a phenomenon comprised of several contradictory logics, Mirmalek takes into account several aspects of the social, technical, and cultural processes constituting the relationship between time and work at NASA and specifically on the MER mission.

Environmental Controls and Life Support System Design for a Space Exploration Vehicle

NASA Technical Reports Server (NTRS)

Stambaugh, Imelda C.; Rodriguez, Branelle; Vonau, Walt, Jr.; Borrego, Melissa

2012-01-01

Engineers at Johnson Space Center (JSC) are developing an Environmental Control and Life Support System (ECLSS) design for the Space Exploration Vehicle (SEV). The SEV will aid to expand the human exploration envelope for Geostationary Transfer Orbit (GEO), Near Earth Object (NEO), or planetary missions by using pressurized surface exploration vehicles. The SEV, formerly known as the Lunar Electric Rover (LER), will be an evolutionary design starting as a ground test prototype where technologies for various systems will be tested and evolve into a flight vehicle. This paper will discuss the current SEV ECLSS design, any work contributed toward the development of the ECLSS design, and the plan to advance the ECLSS design based on the SEV vehicle and system needs.

Environmental Controls and Life Support System (ECLSS) Design for a Space Exploration Vehicle (SEV)

NASA Technical Reports Server (NTRS)

Stambaugh, Imelda; Sankaran, Subra

2010-01-01

Engineers at Johnson Space Center (JSC) are developing an Environmental Control and Life Support System (ECLSS) design for the Space Exploration Vehicle (SEV). The SEV will aid to expand the human exploration envelope for Geostationary Transfer Orbit (GEO), Near Earth Object (NEO), or planetary missions by using pressurized surface exploration vehicles. The SEV, formerly known as the Lunar Electric Rover (LER), will be an evolutionary design starting as a ground test prototype where technologies for various systems will be tested and evolve into a flight vehicle. This paper will discuss the current SEV ECLSS design, any work contributed toward the development of the ECLSS design, and the plan to advance the ECLSS design based on the SEV vehicle and system needs.

Extra-terrestrial construction processes - Advancements, opportunities and challenges

NASA Astrophysics Data System (ADS)

Lim, Sungwoo; Prabhu, Vibha Levin; Anand, Mahesh; Taylor, Lawrence A.

2017-10-01

Government space agencies, including NASA and ESA, are conducting preliminary studies on building alternative space-habitat systems for deep-space exploration. Such studies include development of advanced technologies for planetary surface exploration, including an in-depth understanding of the use of local resources. Currently, NASA plans to land humans on Mars in the 2030s. Similarly, other space agencies from Europe (ESA), Canada (CSA), Russia (Roscosmos), India (ISRO), Japan (JAXA) and China (CNSA) have already initiated or announced their plans for launching a series of lunar missions over the next decade, ranging from orbiters, landers and rovers for extended stays on the lunar surface. As the Space Odyssey is one of humanity's oldest dreams, there has been a series of research works for establishing temporary or permanent settlement on other planetary bodies, including the Moon and Mars. This paper reviews current projects developing extra-terrestrial construction, broadly categorised as: (i) ISRU-based construction materials; (ii) fabrication methods; and (iii) construction processes. It also discusses four categories of challenges to developing an appropriate construction process: (i) lunar simulants; (ii) material fabrication and curing; (iii) microwave-sintering based fabrication; and (iv) fully autonomous and scaled-up construction processes.

Robotic Precursor Missions for Mars Habitats

NASA Technical Reports Server (NTRS)

Huntsberger, Terry; Pirjanian, Paolo; Schenker, Paul S.; Trebi-Ollennu, Ashitey; Das, Hari; Joshi, Sajay

2000-01-01

Infrastructure support for robotic colonies, manned Mars habitat, and/or robotic exploration of planetary surfaces will need to rely on the field deployment of multiple robust robots. This support includes such tasks as the deployment and servicing of power systems and ISRU generators, construction of beaconed roadways, and the site preparation and deployment of manned habitat modules. The current level of autonomy of planetary rovers such as Sojourner will need to be greatly enhanced for these types of operations. In addition, single robotic platforms will not be capable of complicated construction scenarios. Precursor robotic missions to Mars that involve teams of multiple cooperating robots to accomplish some of these tasks is a cost effective solution to the possible long timeline necessary for the deployment of a manned habitat. Ongoing work at JPL under the Mars Outpost Program in the area of robot colonies is investigating many of the technology developments necessary for such an ambitious undertaking. Some of the issues that are being addressed include behavior-based control systems for multiple cooperating robots (CAMPOUT), development of autonomous robotic systems for the rescue/repair of trapped or disabled robots, and the design and development of robotic platforms for construction tasks such as material transport and surface clearing.

Remote microscopy and volumetric imaging on the surface of icy satellites

NASA Astrophysics Data System (ADS)

Soto, Alejandro; Nowicki, Keith; Howett, Carly; Feldkhun, Daniel; Retherford, Kurt D.

2017-10-01

With NASA PIDDP support we have applied recent advancements in Fourier-domain microscopy to develop an instrument capable of microscopic imaging from meter-scale distances for use on a planetary lander on the surface of an icy satellite or other planetary bodies. Without moving parts, our instrument projects dynamic patterns of laser light onto a distant target using a lightweight large-aperture reflector, which then collects the light scattered or fluoresced by the target on a fast photon-bucket detector. Using Fourier Transform based techniques, we reconstruct an image from the detected light. The remote microscope has been demonstrated to produce 2D images with better than 15 micron lateral resolution for targets at a distance of 5 meters and is capable of linearly proportionally higher resolution at shorter distances. The remote microscope is also capable of providing three-dimensional (3D) microscopic imaging capabilities, allowing future surface scientists to explore the morphology of microscopic features in surface ices, for example. The instrument enables microscopic in-situ imaging during day or night without the use of a robotic arm, greatly facilitating the surface operations for a lander or rover while expanding the area of investigation near a landing site for improved science targeting. We are developing this remote microscope for in-situ planetary exploration as a collaboration between the Southwest Research Institute, LambdaMetrics, and the University of Colorado.

Requirements and Designs for Mars Rover RTGs

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

Schock, Alfred; Shirbacheh, M; Sankarankandath, V

The current-generation RTGs (both GPHS and MOD) are designed for operation in a vacuum environment. The multifoil thermal insulation used in those RTGs only functions well in a good vacuum. Current RTGs are designed to operate with an inert cover gas before launch, and to be vented to space vacuum after launch. Both RTGs are sealed with a large number of metallic C-rings. Those seals are adequate for retaining the inert-gas overpressure during short-term launch operations, but would not be adequate to prevent intrusion of the Martian atmospheric gases during long-term operations there. Therefore, for the Mars Rover application, thosemore » RTGs just be modified to prevent the buildup of significant pressures of Mars atmosphere or of helium (from alpha decay of the fuel). In addition, a Mars Rover RTG needs to withstand a long-term dynamic environment that is much more severe than that seen by an RTG on an orbiting spacecraft or on a stationary planetary lander. This paper describes a typical Rover mission, its requirements, the environment it imposes on the RTG, and a design approach for making the RTG operable in such an environment. Specific RTG designs for various thermoelectric element alternatives are presented.; Reference CID #9268 and CID #9276.« less

The Traverse Planning Process for the Drats 2010 Analog Field Simulations

NASA Technical Reports Server (NTRS)

Horz, Friedrich; Gruener, John; Lofgren, Gary; Skinner, James A., Jr.; Graf, Jodi; Seibert, Marc

2011-01-01

Traverse planning concentrates on optimizing the science return within the overall objectives of planetary surface missions or their analog field simulations. Such simulations were conducted in the San Francisco Volcanic Field, northern Arizona, from Aug. 26 to Sept 17, 2010 and involved some 200 individuals in the field, with some 40 geoscientists composing the science team. The purpose of these Desert Research and Technology Studies (DRATS) is to exercise and evaluate developmental hardware, software and operational concepts in a mission-like, fully-integrated, setting under the direction of an onsite Mobile Mission Control Center(MMCC). DRATS 2010 focused on the simultaneous operation of 2 rovers, a historic first. Each vehicle was manned by an astronaut-commander and an experienced field geologist. Having 2 rovers and crews in the field mandated substantially more complex science and mission control operations compared to the single rover DRATS tests of 2008 and 2009, or the Apollo lunar missions. For instance, the science support function was distributed over 2 "back rooms", one for each rover, with both "tactical" teams operating independently and simultaneously during the actual traverses. Synthesis and integration of the daily findings and forward planning for the next day(s) was accomplished overnight by yet another "strategic" science team.

NASA's International Space Station: A Testbed for Planetary Protection Protocol Development

NASA Technical Reports Server (NTRS)

Bell, M. S.; Rucker, M.; Love, S.; Johnson, J.; Chambliss, J.; Pierson, D.; Ott, M.; Mary, N.; Glass, B.; Lupisella, M.;

Nasa's International Space Station: A Testbed for Planetary Protection Protocol Development

NASA Technical Reports Server (NTRS)

Bell, M. S.; Rucker, M.; Love, S.; Johnson, J.; Chambliss, J.; Pierson, D.; Ott, M.; Mary, N.; Glass, B.; Lupisella, M.;

Small Spacecraft for Planetary Science

NASA Astrophysics Data System (ADS)

Baker, John; Castillo-Rogez, Julie; Bousquet, Pierre-W.; Vane, Gregg; Komarek, Tomas; Klesh, Andrew

2016-07-01

As planetary science continues to explore new and remote regions of the Solar system with comprehensive and more sophisticated payloads, small spacecraft offer the possibility for focused and more affordable science investigations. These small spacecraft or micro spacecraft (< 100 kg) can be used in a variety of architectures consisting of orbiters, landers, rovers, atmospheric probes, and penetrators. A few such vehicles have been flown in the past as technology demonstrations. However, technologies such as new miniaturized science-grade sensors and electronics, advanced manufacturing for lightweight structures, and innovative propulsion are making it possible to fly much more capable micro spacecraft for planetary exploration. While micro spacecraft, such as CubeSats, offer significant cost reductions with added capability from advancing technologies, the technical challenges for deep space missions are very different than for missions conducted in low Earth orbit. Micro spacecraft must be able to sustain a broad range of planetary environments (i.e., radiations, temperatures, limited power generation) and offer long-range telecommunication performance on a par with science needs. Other capabilities needed for planetary missions, such as fine attitude control and determination, capable computer and data handling, and navigation are being met by technologies currently under development to be flown on CubeSats within the next five years. This paper will discuss how micro spacecraft offer an attractive alternative to accomplish specific science and technology goals and what relevant technologies are needed for these these types of spacecraft. Acknowledgements: Part of this work is being carried out at the Jet Propulsion Laboratory, California Institute of Technology under contract to NASA. Government sponsorship acknowledged.

High-precision radiometric tracking for planetary approach and encounter in the inner solar system

NASA Technical Reports Server (NTRS)

Christensen, C. S.; Thurman, S. W.; Davidson, J. M.; Finger, M. H.; Folkner, W. M.

1989-01-01

The benefits of improved radiometric tracking data have been studied for planetary approach within the inner Solar System using the Mars Rover Sample Return trajectory as a model. It was found that the benefit of improved data to approach and encounter navigation was highly dependent on the a priori uncertainties assumed for several non-estimated parameters, including those for frame-tie, Earth orientation, troposphere delay, and station locations. With these errors at their current levels, navigational performance was found to be insensitive to enhancements in data accuracy. However, when expected improvements in these errors are modeled, performance with current-accuracy data significantly improves, with substantial further improvements possible with enhancements in data accuracy.

Trade studies for nuclear space power systems

NASA Technical Reports Server (NTRS)

Smith, John M.; Bents, David J.; Bloomfield, Harvey S.

1991-01-01

As human visions of space applications expand and as we probe further out into the universe, our needs for power will also expand, and missions will evolve which are enabled by nuclear power. A broad spectrum of missions which are enhanced or enabled by nuclear power sources have been defined. These include Earth orbital platforms, deep space platforms, planetary exploration, and terrestrial resource exploration. The recently proposed Space Exploration Initiative (SEI) to the Moon and Mars has more clearly defined these missions and their power requirements. Presented here are results of recent studies of radioisotope and nuclear reactor energy sources, combined with various energy conversion devices for Earth orbital applications, SEI lunar/Mars rovers, surface power, and planetary exploration.

Design and evaluation of a toroidal wheel for planetary rovers

NASA Technical Reports Server (NTRS)

Koskol, J.; Yerazunis, S. W.

1977-01-01

The inverted toroidal wheel concept was perceived, mathematically quantified, and experimentally verified. The wheel design has a number of important characteristics, namely; (1) the low footprint pressures required for Mars exploration (0.5 to 1.0 psi); (2) high vehicle weight to wheel weight ratios capable of exceeding 10:1; (3) extremely long cyclic endurances tending towards infinite life; and (4) simplicity of design. The concept, in combination with appropriate materials such as titanium or composites, provides a planetary roving vehicle with a very high degree of exploratory mobility, a substantial savings in weight and a high assurity of mission success. Design equations and computation procedures necessary to formulate an inverted wheel are described in detail.

Cross-coupled control for all-terrain rovers.

PubMed

Reina, Giulio

2013-01-08

Mobile robots are increasingly being used in challenging outdoor environments for applications that include construction, mining, agriculture, military and planetary exploration. In order to accomplish the planned task, it is critical that the motion control system ensure accuracy and robustness. The achievement of high performance on rough terrain is tightly connected with the minimization of vehicle-terrain dynamics effects such as slipping and skidding. This paper presents a cross-coupled controller for a 4-wheel-drive/4-wheel-steer robot, which optimizes the wheel motors' control algorithm to reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating on agricultural terrain, are presented to validate the system. It is shown that the proposed approach is effective in reducing slippage and vehicle posture errors.

Deep Space Network Capabilities for Receiving Weak Probe Signals

NASA Technical Reports Server (NTRS)

Asmar, Sami; Johnston, Doug; Preston, Robert

2005-01-01

Planetary probes can encounter mission scenarios where communication is not favorable during critical maneuvers or emergencies. Launch, initial acquisition, landing, trajectory corrections, safing. Communication challenges due to sub-optimum antenna pointing or transmitted power, amplitude/frequency dynamics, etc. Prevent lock-up on signal and extraction of telemetry. Examples: loss of Mars Observer, nutation of Ulysses, Galileo antenna, Mars Pathfinder and Mars Exploration Rovers Entry, Descent, and Landing, and the Cassini Saturn Orbit Insertion. A Deep Space Network capability to handle such cases has been used successfully to receive signals to characterize the scenario. This paper will describe the capability and highlight the cases of the critical communications for the Mars rovers and Saturn Orbit Insertion and preparation radio tracking of the Huygens probe at (non-DSN) radio telescopes.

Nomad rover field experiment, Atacama Desert, Chile 1. Science results overview

NASA Astrophysics Data System (ADS)

Cabrol, N. A.; Thomas, G.; Witzke, B.

2001-04-01

Nomad was deployed for a 45 day traverse in the Atacama Desert, Chile, during the summer of 1997. During this traverse, 1 week was devoted to science experiments. The goal of the science experiments was to test different planetary surface exploration strategies that included (1) a Mars mission simulation, (2) a science on the fly experiment, where the rover was kept moving 75% of the operation time. (The goal of this operation was to determine whether or not successful interpretation of the environment is related to the time spent on a target. The role of mobility in helping the interpretation was also assessed.) (3) a meteorite search using visual and instrumental methods to remotely identify meteorites in extreme environments, and (4) a time-delay experiment with and without using the panospheric camera. The results were as follow: the remote science team positively identified the main characteristics of the test site geological environment. The science on the fly experiment showed that the selection of appropriate targets might be even more critical than the time spent on a study area to reconstruct the history of a site. During the same operation the science team members identified and sampled a rock from a Jurassic outcrop that they proposed to be a fossil. The presence of paleolife indicators in this rock was confirmed later by laboratory analysis. Both visual and instrumental modes demonstrated the feasibility, in at least some conditions, of carrying out a field search for meteorites by using remote-controlled vehicles. Finally, metrics collected from the observation of the science team operations, and the use team members made of mission data, provided critical information on what operation sequences could be automated on board rovers in future planetary surface explorations.

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

PubMed Central

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

2015-01-01

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

Advanced Techniques for Simulating the Behavior of Sand

NASA Astrophysics Data System (ADS)

Clothier, M.; Bailey, M.

2009-12-01

Computer graphics and visualization techniques continue to provide untapped research opportunities, particularly when working with earth science disciplines. Through collaboration with the Oregon Space Grant and IGERT Ecosystem Informatics programs we are developing new techniques for simulating sand. In addition, through collaboration with the Oregon Space Grant, we’ve been communicating with the Jet Propulsion Laboratory (JPL) to exchange ideas and gain feedback on our work. More specifically, JPL’s DARTS Laboratory specializes in planetary vehicle simulation, such as the Mars rovers. This simulation utilizes a virtual "sand box" to test how planetary rovers respond to different terrains while traversing them. Unfortunately, this simulation is unable to fully mimic the harsh, sandy environments of those found on Mars. Ideally, these simulations should allow a rover to interact with the sand beneath it, particularly for different sand granularities and densities. In particular, there may be situations where a rover may become stuck in sand due to lack of friction between the sand and wheels. In fact, in May 2009, the Spirit rover became stuck in the Martian sand and has provided additional motivation for this research. In order to develop a new sand simulation model, high performance computing will play a very important role in this work. More specifically, graphics processing units (GPUs) are useful due to their ability to run general purpose algorithms and ability to perform massively parallel computations. In prior research, simulating vast quantities of sand has been difficult to compute in real-time due to the computational complexity of many colliding particles. With the use of GPUs however, each particle collision will be parallelized, allowing for a dramatic performance increase. In addition, spatial partitioning will also provide a speed boost as this will help limit the number of particle collision calculations. However, since the goal of this research is to simulate the look and behavior of sand, this work will go beyond simple particle collision. In particular, we can continue to use our parallel algorithms not only on single particles but on particle “clumps” that consist of multiple combined particles. Since sand is typically not spherical in nature, these particle “clumps” help to simulate the coarse nature of sand. In a simulation environment, multiple combined particles could be used to simulate the polygonal and granular nature of sand grains. Thus, a diversity of sand particles can be generated. The interaction between these particles can then be parallelized using GPU hardware. As such, this research will investigate different graphics and physics techniques and determine the tradeoffs in performance and visual quality for sand simulation. An enhanced sand model through the use of high performance computing and GPUs has great potential to impact research for both earth and space scientists. Interaction with JPL has provided an opportunity for us to refine our simulation techniques that can ultimately be used for their vehicle simulator. As an added benefit of this work, advancements in simulating sand can also benefit scientists here on earth, especially in regard to understanding landslides and debris flows.

Interesting Features in Spirit's Uphill View

NASA Technical Reports Server (NTRS)

2004-01-01

Planetary scientists got excited when they saw this imagery coming in from NASA's Mars Exploration Rover Spirit because they could see hints of rock strata and other interesting geologic features ahead. In the middle of this image, from upper left to the lower right, lies a trough that resembles a small ravine. To the right of that and a little way up the hill, beyond a rock-strewn surface, sits a small rounded ridge. Fine horizontal streaks, just perceptible in this image, suggest possible layering in the bedrock. Above that are rock features that appear to drape across the slopes. Scientists are discussing whether to take the rover closer or select other interesting targets for further study. This view looks eastward from the 'West Spur' of the 'Columbia Hills,' where Spirit has been conducting scientific investigations. It is a mosaic of several frames Spirit took with its panoramic camera on the rover's 229th martian day, or sol, (Aug. 24, 2004). The field of view is 48 degrees from left to right. The image is presented in a cylindrical projection with geometrical seam correction.

Year of the Solar System: New Worlds, New Discoveries and Why People Should Care (Invited)

NASA Astrophysics Data System (ADS)

Green, J. L.; Adams, J.; McCuistion, D.; Erickson, K. J.

2010-12-01

The next two years represents a historic time in planetary science. In order to better communicate this period to our target audiences, NASA’s Planetary Science Division created the Year of the Solar System (YSS) initiative. YSS is being designed to raise awareness, build excitement and make connections with educators, students and the American public about planetary science events and discoveries. Over the next Martian year, with our international partners we will encounter two comets; orbit spacecraft around Venus, Mercury and Vesta; continue to explore Mars with rovers; and launch robotic explorers to Jupiter, Earth’s moon, and Mars. For the first time ever NASA will launch three planetary missions within four months of each other! With the successful accomplishment of these mission events will come a series of fabulous scientific discoveries. We must take advantage of this unique opportunity to get the word out about the scientific revolution occurring in planetary science. This presentation will also discuss the importance of providing relatable material through Earth analogs, comparative visuals, interactive web-based tools and other ideas to communicate, why people should care about these exciting discoveries to come.

Programmable Ultra-Lightweight System Adaptable Radio Satellite Base Station

NASA Technical Reports Server (NTRS)

Varnavas, Kosta; Sims, Herb

2015-01-01

With the explosion of the CubeSat, small sat, and nanosat markets, the need for a robust, highly capable, yet affordable satellite base station, capable of telemetry capture and relay, is significant. The Programmable Ultra-Lightweight System Adaptable Radio (PULSAR) is NASA Marshall Space Flight Center's (MSFC's) software-defined digital radio, developed with previous Technology Investment Programs and Technology Transfer Office resources. The current PULSAR will have achieved a Technology Readiness Level-6 by the end of FY 2014. The extensibility of the PULSAR will allow it to be adapted to perform the tasks of a mobile base station capable of commanding, receiving, and processing satellite, rover, or planetary probe data streams with an appropriate antenna.

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

NASA Astrophysics Data System (ADS)

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

2009-04-01

Scientific research is based on accurate measurement and so depends on the possibilities of accurate instruments. In planetary science and exploration it is often difficult or even impossible in some cases to gather accurate and direct information from a specified target. It is important to gather as much information as possible to be able to analyze and extract scientific data from them. One possibility to do so is to send equipments to the target and perform the measurements locally. The measurement data is then sent to base station for further analysis. To send measurement instruments to measurement point it is important to have a good estimation of the environmental situation there. This information can be collected by sending a pilot rover to the area of interest to collect visual information. The aim of this work is to develop a tele-operated small rover, Google Lunar X-Prize (GLXP) class, which is capable of surviving in the Moon environment and perform reconnaissance to provide visual information to base station of ExoGeoLab project of ESA/ESTEC. Using the state of the art developments in electronics, software and communication technologies allows us to achieve increase in accuracy while reducing size and power consumption. Target mass of the rover is lees than 5 kg and its target dimension is 300 x 60 x 80 mm3. The small size of the rover gives the possibility of accessing places which are normally out of reach. The required power for operation and the cost of launch is considerably reduced compared to large rovers which makes the mission more cost effective. The mission of the rover is to capture high resolution images and transmit them to base station. Data link between lover and base station is wireless and rover should supply its own energy. The base station can be either a habitat or a relay station. The navigation of the rover is controlled by an operator in a habitat who has a view from the stereo camera on the rover. This stereo camera gives image information to the base and gives the possibility for future autonomous navigation by using three-dimensional image recognition software. As the navigation view should have minimum delay, the resolution of stereo camera is not very high. The rover design is divided into four work packages. These work packages are remote imaging, remote manual navigation, locomotion and structure, and power system. Remote imaging work package is responsible for capturing high resolution images, transmitting image data to base station via wireless link and store the data for further processing. Remote manual navigation is handling the tele-operation. It collects stereo images and navigation sensor readouts, transmits stereo images and navigation data to base station via wireless link, displays the image and sensor status in a real-time fashion on operator's monitor, receives command from operator's joystick, transfers navigation commands to rover via wireless link, and operates the actuators accordingly. Locomotion and structure takes care of designing the body structure and locomotion system based on the Moon environment specifications. The target specifications of rover locomotion system are maximum speed of 200 m/h, maximum acceleration of 0.554 m/s2, and maximum slope angle of 20˚ . The power system for the rover includes the solar panel, batteries and power electronics mounted on the rover. The energy storage in the rover should be able to survive for minimum 500 m movement on the moon. Subsequently, it should provide energy for other sub-systems to communicate, navigate and transmit the data. Considering the harsh environmental issues on the Moon such as dust, temperature range and radiation, it is vital for the mission that these issues are considered in the design to correctly dimension reliability and if necessary redundancy. Corrosion resistive material should be used to ensure the survival of mechanical structure, moving parts and other sensitive parts such as electronics. High temperature variation should be considered in the design of structure and electronics and finally electronics should be radiation protected.

Evidence for a Global Martian Soil Composition Extends to Gale Crater

NASA Technical Reports Server (NTRS)

Yen, A. S.; Gellert, R.; Clark, B. C.; Ming, D. W.; King, P. L.; Schmidt, M. E.; Leshin, L.; Morris, R. V.; Squyres, S. W.; Campbell, J. L.

2013-01-01

The eolian bedform within Gale Crater referred to as "Rocknest" was investigated by the science instruments of the Curiosity Mars rover. Physical, chemical and mineralogical results are consistent with data collected from soils at other landing sites, suggesting a globally-similar composition. Results from the Curiosity payload from Rocknest should be considered relevant beyond a single, localized region with Gale Crater, providing key insights into planetary scale processes.

Ambler: Performance of a six-legged planetary rover

NASA Astrophysics Data System (ADS)

Krotkov, E. P.; Simmons, R. G.; Whittaker, W. L.

1995-01-01

In this paper we quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. We present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. We document the performance of a novel dead-reckoning approach, and analyze its accuracy. We describe the results of autonomous walking experiments in terms of terrain traversed, walking speed and endurance.

Curiosity Overview of a Two-Year Odyssey

NASA Astrophysics Data System (ADS)

Meyer, Michael A.; Vasavada, Ashwin R.

2014-11-01

The Mars Science Laboratory rover, Curiosity, has been exploring the floor of Gale Crater for well over a Mars year and has now entered its extended mission. Major milestones have been met and exceeded, especially having addressed its prime scientific objective through exploring Yellowknife Bay, an ancient fluvial environment in Gale Crater, and determining that it could have supported microbial life. The mission has accomplished many first-time planetary activities, such as measurements new to planetary science (Laser Induced Breakdown Spectroscopy, X-ray Diffraction), measurements of the high-energy radiation flux at the surface, radiogenic and cosmogenic isotope age dating of rocks, and detection of martian organic carbon. In addition, many measurements have provided a significant refinement to those of previous missions such as atmospheric isotopic measurements relevant to atmospheric loss, methane content of the atmosphere, and the daily and seasonal change in atmospheric temperature and pressure. Curiosity has left its landing ellipse and is progressing toward the base of Mt. Sharp. The rover has had the opportunity to make additional measurements of fluvial sediments, including extensive remote and contact measurements, and analysis of a drilled samples. A summary of two Earth years of major findings of Curiosity, their implications, and more recent results (potentially including comet Siding Spring) will be presented at the meeting.

Preparations for ExoMars: Learning Lessons from Curiosity

NASA Astrophysics Data System (ADS)

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

2016-10-01

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

Rock Garden

NASA Technical Reports Server (NTRS)

1997-01-01

This false color composite image of the Rock Garden shows the rocks 'Shark' and 'Half Dome' at upper left and middle, respectively. Between these two large rocks is a smaller rock (about 0.20 m wide, 0.10 m high, and 6.33 m from the Lander) that was observed close-up with the Sojourner rover (see PIA00989).

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is a division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

Marie Curie during ORT4

NASA Technical Reports Server (NTRS)

2003-01-01

Marie Curie rover drives down the rear ramp during Operational Readiness Test (ORT) 4.

Pathfinder, a low-cost Discovery mission, is the first of a new fleet of spacecraft that are planned to explore Mars over thenext ten years. Mars Global Surveyor, already en route, arrives at Mars on September 11 to begin a two year orbital reconnaissance of the planet's composition, topography, and climate. Additional orbiters and landers will follow every 26 months.

The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is an operating division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

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

NASA Astrophysics Data System (ADS)

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

2007-12-01

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

Microrover Nanokhod enhancing the scientific output of the ExoMars Lander

NASA Astrophysics Data System (ADS)

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

The Nanokhod rover is a small and mobile exploration platform carrying out in-situ exploration by transporting and operating scientific instruments to interesting samples beyond the landing point. The microrover has a volume of 160x65x250mm (3) it weighs 3.2kg including a payload mass of 1kg and it has a peak power of 5W. The scientific model payload of the rover is a Geochemistry Instrument Package Facility (GIPF), which analyses the chemical and mineralogical composition of planetary surfaces. It consists of: An Alpha-Particle-Xray-spectrometer, a Mößbauer spectrometer and a miniature imaging system. The amount of science which can be performed within the operating range of the lander is limited since there are only few reachable, scientific interesting objects. By travelling to new sites with the aid of a microrover, the additional reach enhances the mission output and provides a significant increase in scientific return. The implementation of the Nanokhod rover on the ExoMars Lander increases its operating range by a radius of several meters, requiring only a minor mass impact of few kilograms. The Nanokhod rover is a tethered vehicle based on a Russian concept. It stays connected to the Lander via thin cables throughout the mission. This connection is used for power supply to the rover as well as the transmission of commands and scientific data. This solution minimises the communication unit and eliminates the power subsystems on the rover side, saving valuable mass and thus improving the payload to system mass ratio. By removing the power storage subsystem on the rover side, the mobile system provides a high thermal robustness and allows the system to easily survive Martian nights. The locomotion of the rover is provided by tracks. This is the optimised locomotion method on a soft and sandy surface for such a small, low-mass system, allowing even to negotiate steep slopes. The tracks enable a large contact surface of the vehicle, thus reducing its contact pressure. The sinkage is minimised reducing the bulldozing effect and increasing the traction. The central Payload Cabine has 2 (Degree of Freedom) DOF, allowing inherently robust deployment and precise payload positioning. The two drives for lifting and rotating the Payload Cabine (PLC) provides a robust and repetitive accuracy for a congruent positioning of all payload instruments on the same sample. Furthermore the PLC drives can be used for climbing and overcoming obstacles. The latest developments on the Nanokhod rover have prepared the concept for a mission scenario on the Mercury surface. The mechanical design of the Nanokhod rover was developed from a conceptual stage to an engineering model which is able to withstand the demanding conditions of the Mercury mission such as: Surface temperature of -180(°) °C, significant mass restrictions, limited power and energy supply, operational surface covered with fine dust, shock loads of 200g for 20ms and high Vacuum. With the building and testing of the engineering model the concept achieved a Technical Readiness Level (TRL) of 5 to 6, and solutions were found for a set of requirements with a high complexity. With these design requirements exceeding most mission conditions of the ExoMars lander, the current design is well-prepared for the Mars scenario.

Planetary Airplane Extraction System Development and Subscale Testing

NASA Technical Reports Server (NTRS)

Teter, John E., Jr.

2006-01-01

The Aerial Regional-scale Environmental Survey (ARES) project employs an airplane as the science platform from which to collect science data in the previously inaccessible, thin atmosphere of Mars. In order for the airplane to arrive safely in the Martian atmosphere a number of sequences must occur. A critical element in the entry sequence at Mars is an extraction maneuver to separate the airplane quickly (in less than a second) from its protective backshell to reduce the possibility of re-contact, potentially leading to mission failure. This paper describes the development, testing, and lessons learned from building a 1/3 scale model of this airplane extraction system. This design, based on the successful Mars Exploration Rover (MER) extraction mechanism, employs a series of trucks rolling along tracks located on the surface of the central parachute can. Numerous tests using high speed video were conducted at the Langley Research Center (LaRC) to validate this concept. One area of concern was that that although the airplane released cleanly, a pitching moment could be introduced. While targeted for a Mars mission, this concept will enable environmental surveys by aircraft in other planetary bodies with a sensible atmosphere such as Venus or Saturn s moon, Titan.

Planetary Airplane Extraction System Development and Subscale Testing

NASA Technical Reports Server (NTRS)

Teter, John E., Jr.

2006-01-01

The Aerial Regional-scale Environmental Survey (ARES) project will employ an airplane as the science platform from which to collect science data in the previously inaccessible, thin atmosphere of Mars. In order for the airplane to arrive safely in the Martian atmosphere, a number of sequences must occur. A critical element in the entry sequence at Mars is an extraction maneuver to separate the airplane quickly (in less than a second) from its protective backshell to reduce the possibility of re-contact, potentially leading to mission failure. This paper describes the development, testing, and lessons learned from building a 1/3 scale model of this airplane extraction system. This design, based on the successful Mars Exploration Rover (MER) extraction mechanism, employs a series of trucks rolling along tracks located on the surface of the central parachute can. Numerous tests using high speed video were conducted at the Langley Research Center to validate this concept. One area of concern was that that although the airplane released cleanly, a pitching moment could be introduced. While targeted for a Mars mission, this concept will enable environmental surveys by aircraft in other planetary bodies with a sensible atmosphere such as Venus or Saturn's moon, Titan.

Characterizing Wheel-Soil Interaction Loads Using Meshfree Finite Element Methods: A Sensitivity Analysis for Design Trade Studies

NASA Technical Reports Server (NTRS)

Contreras, Michael T.; Trease, Brian P.; Bojanowski, Cezary; Kulakx, Ronald F.

2013-01-01

A wheel experiencing sinkage and slippage events poses a high risk to planetary rover missions as evidenced by the mobility challenges endured by the Mars Exploration Rover (MER) project. Current wheel design practice utilizes loads derived from a series of events in the life cycle of the rover which do not include (1) failure metrics related to wheel sinkage and slippage and (2) performance trade-offs based on grouser placement/orientation. Wheel designs are rigorously tested experimentally through a variety of drive scenarios and simulated soil environments; however, a robust simulation capability is still in development due to myriad of complex interaction phenomena that contribute to wheel sinkage and slippage conditions such as soil composition, large deformation soil behavior, wheel geometry, nonlinear contact forces, terrain irregularity, etc. For the purposes of modeling wheel sinkage and slippage at an engineering scale, meshfree nite element approaches enable simulations that capture su cient detail of wheel-soil interaction while remaining computationally feasible. This study implements the JPL wheel-soil benchmark problem in the commercial code environment utilizing the large deformation modeling capability of Smooth Particle Hydrodynamics (SPH) meshfree methods. The nominal, benchmark wheel-soil interaction model that produces numerically stable and physically realistic results is presented and simulations are shown for both wheel traverse and wheel sinkage cases. A sensitivity analysis developing the capability and framework for future ight applications is conducted to illustrate the importance of perturbations to critical material properties and parameters. Implementation of the proposed soil-wheel interaction simulation capability and associated sensitivity framework has the potential to reduce experimentation cost and improve the early stage wheel design proce

Creating a Lunar EVA Work Envelope

NASA Technical Reports Server (NTRS)

Griffin, Brand N.; Howard, Robert; Rajulu, Sudhakar; Smitherman, David

2009-01-01

A work envelope has been defined for weightless Extravehicular Activity (EVA) based on the Space Shuttle Extravehicular Mobility Unit (EMU), but there is no equivalent for planetary operations. The weightless work envelope is essential for planning all EVA tasks because it determines the location of removable parts, making sure they are within reach and visibility of the suited crew member. In addition, using the envelope positions the structural hard points for foot restraints that allow placing both hands on the job and provides a load path for reacting forces. EVA operations are always constrained by time. Tasks are carefully planned to ensure the crew has enough breathing oxygen, cooling water, and battery power. Planning first involves computers using a virtual work envelope to model tasks, next suited crew members in a simulated environment refine the tasks. For weightless operations, this process is well developed, but planetary EVA is different and no work envelope has been defined. The primary difference between weightless and planetary work envelopes is gravity. It influences anthropometry, horizontal and vertical mobility, and reaction load paths and introduces effort into doing "overhead" work. Additionally, the use of spacesuits other than the EMU, and their impacts on range of motion, must be taken into account. This paper presents the analysis leading to a concept for a planetary EVA work envelope with emphasis on lunar operations. There is some urgency in creating this concept because NASA has begun building and testing development hardware for the lunar surface, including rovers, habitats and cargo off-loading equipment. Just as with microgravity operations, a lunar EVA work envelope is needed to guide designers in the formative stages of the program with the objective of avoiding difficult and costly rework.

Laer-induced Breakdown Spectroscopy Instrument for Element Analysis of Planetary Surfaces

NASA Technical Reports Server (NTRS)

Blacic, J.; Pettit, D.; Cremers, D.; Roessler, N.

1993-01-01

One of the most fundamental pieces of information about any planetary body is the elemental and mineralogical composition of its surface materials. We are developing an instrument to obtain such data at ranges of up to several hundreds of meters using the technique of Laser-Induced Breakdown Spectroscopy (LIBS). We envision our instrument being used from a spacecraft in close rendezvous with small bodies such as comets and asteroids, or deployed on surface-rover vehicles on large bodies such as Mars and the Moon. The elemental analysis is based on atomic emission spectroscopy of a laser-induced plasma or spark. A pulsed, diode pumped Nd:YAG laser of several hundred millijoules optical energy is used to vaporize and electronically excite the constituent elements of a rock surface remotely located from the laser. Light emitted from the excited plasma is collected and introduced to the entrance slit of a small grating spectrometer. The spectrally dispersed spark light is detected with either a linear photo diode array or area CCD array. When the latter detector is used, the optical and spectrometer components of the LIBS instrument can also be used in a passive imaging mode to collect and integrate reflected sunlight from the same rock surface. Absorption spectral analysis of this reflected light gives mineralogical information that provides a remote geochemical characterization of the rock surface. We performed laboratory calibrations in air and in vacuum on standard rock powders to quantify the LIBS analysis. We performed preliminary field tests using commercially available components to demonstrate remote LIBS analysis of terrestrial rock surfaces at ranges of over 25 m, and we have demonstrated compatibility with a six-wheeled Russian robotic rover vehicle. Based on these results, we believe that all major and most minor elements expected on planetary surfaces can be measured with absolute accuracy of 10-15 percent and much higher relative accuracy. We have performed preliminary systems analysis of a LIBS instrument to evaluate probable mass and power requirements; results of this analysis are summarized.

Fusion and Visualization of HiRISE Super-Resolution, Shape-from-Shading DTM with MER Stereo 3D Reconstructions

NASA Astrophysics Data System (ADS)

Gupta, S.; Paar, G.; Muller, J. P.; Tao, Y.; Tyler, L.; Traxler, C.; Hesina, G.; Huber, B.; Nauschnegg, B.

2014-12-01

The FP7-SPACE project PRoViDE has assembled a major portion of the imaging data gathered so far from rover vehicles, landers and probes on extra-terrestrial planetary surfaces into a unique database, bringing them into a common planetary geospatial context and providing access to a complete set of 3D vision products. One major aim of PRoViDE is the fusion between orbiter and rover image products. To close the gap between HiRISE imaging resolution (down to 25cm for the OrthoRectified image (ORI), down to 1m for the DTM) and surface vision products, images from multiple HiRISE acquisitions are combined into a super resolution data set (Tao & Muller, 2014), increasing to 5cm resolution the Ortho images. Furthermore, shape-from-shading is applied to one of the ORIs at its original resolution for refinement of the HiRISE DTM, leading to DTM ground resolutions of up to 25 cm. After texture-based co-registration with these refined orbiter 3D products, MER PanCam and NavCam 3D image products can be smoothly pasted into a multi-resolution 3D data representation. Typical results from the MER mission are presented by a dedicated real-time rendering tool which is fed by a hierarchical 3D data structure that is able to cope with all involved scales from global planetary scale down to close-up reconstructions in the mm range. This allows us to explore and analyze the geological characteristics of rock outcrops, for example the detailed geometry and internal features of sedimentary rock layers, to aid paleoenvironmental interpretation. This integrated approach enables more efficient development of geological models of martian rock outcrops. The rendering tool also provides measurement tools to obtain geospatial data of surface points and distances between them. We report on novel scientific use cases and the added value potential of the resultant high-quality data set and presentation means to support further geologic investigations. The research leading to these results has received funding from the EC's 7th Framework Programme (FP7/2007-2013) under grant agreement n° 312377.

Slope activity in Gale crater, Mars

USGS Publications Warehouse

Dundas, Colin M.; McEwen, Alfred S.

2015-01-01

High-resolution repeat imaging of Aeolis Mons, the central mound in Gale crater, reveals active slope processes within tens of kilometers of the Curiosity rover. At one location near the base of northeastern Aeolis Mons, dozens of transient narrow lineae were observed, resembling features (Recurring Slope Lineae) that are potentially due to liquid water. However, the lineae faded and have not recurred in subsequent Mars years. Other small-scale slope activity is common, but has different spatial and temporal characteristics. We have not identified confirmed RSL, which Rummel et al. (Rummel, J.D. et al. [2014]. Astrobiology 14, 887–968) recommended be treated as potential special regions for planetary protection. Repeat images acquired as Curiosity approaches the base of Aeolis Mons could detect changes due to active slope processes, which could enable the rover to examine recently exposed material.

Robot Swarms

NASA Technical Reports Server (NTRS)

Morring, Frank, Jr.

2005-01-01

Engineers and interns at this NASA field center are building the prototype of a robotic rover that could go where no wheeled rover has gone before-into the dark cold craters at the lunar poles and across the Moon s rugged highlands-like a walking tetrahedron. With NASA pushing to meet President Bush's new exploration objectives, the robots taking shape here today could be on the Moon in a decade. In the longer term, the concept could lead to shape-shifting robot swarms designed to explore distant planetary surfaces in advance of humans. "If you look at all of NASA s projections of the future, anyone s projections of the space program, they re all rigid-body architecture," says Steven Curtis, principal investigator on the effort. "This is not rigid-body. The whole key here is flexibility and reconfigurability with a capital R."

Cross-Coupled Control for All-Terrain Rovers

PubMed Central

Reina, Giulio

2013-01-01

Mobile robots are increasingly being used in challenging outdoor environments for applications that include construction, mining, agriculture, military and planetary exploration. In order to accomplish the planned task, it is critical that the motion control system ensure accuracy and robustness. The achievement of high performance on rough terrain is tightly connected with the minimization of vehicle-terrain dynamics effects such as slipping and skidding. This paper presents a cross-coupled controller for a 4-wheel-drive/4-wheel-steer robot, which optimizes the wheel motors' control algorithm to reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating on agricultural terrain, are presented to validate the system. It is shown that the proposed approach is effective in reducing slippage and vehicle posture errors. PMID:23299625

Churned-Up Rocky Debris and Dust (False Color)

NASA Technical Reports Server (NTRS)

2005-01-01

NASA's Mars Exploration Rover Spirit has been analyzing sulfur-rich rocks and surface materials in the 'Columbia Hills' in Gusev Crater on Mars. This image shows rocky debris and dust, which planetary scientists call 'regolith' or 'soil,' that has been churned up by the rover wheels. This 40-centimeter-wide (16-inch-wide) patch of churned-up dirt, nicknamed 'Paso Robles,' contains brighter patches measured to be high in sulfur by Spirit's alpha particle X-ray Spectrometer. Spirit's panoramic camera took this false-color image on martian day, or sol, 400 (Feb. 16, 2005), using filters at wavelengths of 750, 530, and 430 nanometers. Darker red hues in the image correspond to greater concentrations of oxidized soil and dust. Whiter and bluer hues correspond to sulfur-rich deposits that are not as heavily coated with soils or are not as highly oxidized.

Extended mission/lunar rover, executive summary

NASA Technical Reports Server (NTRS)

1992-01-01

The design project selected to be undertaken by the 1991/92 Aerospace Design Group was that of conceptually designing an Extended Mission Rover for use on the Lunar Surface. This vehicle would serve the function as a mobile base of sorts, and be able to provide future astronauts with a mobile 'shirt-sleeve' self-sufficient living and working environment. Some of the proposed missions would be planetary surface exploration, construction and maintenance, hardware set-up and in-situ resource experimentation. The need for this type of vehicle has already been declared in the Stafford Group's report on the future of America's Space Program, entitled 'America at the Threshold: America's Space Exploration Initiative'. In the four architectures described within the report, the concept of a pressurized vehicle occurred multiple times. The approximate time frame that this vehicle would be put into use is 2010-2030.

Mars Sample Return mission: Two alternate scenarios

NASA Technical Reports Server (NTRS)

1991-01-01

Two scenarios for accomplishing a Mars Sample Return mission are presented herein. Mission A is a low cost, low mass scenario, while Mission B is a high technology, high science alternative. Mission A begins with the launch of one Titan IV rocket with a Centaur G' upper stage. The Centaur performs the trans-Mars injection burn and is then released. The payload consists of two lander packages and the Orbital Transfer Vehicle, which is responsible for supporting the landers during launch and interplanetary cruise. After descending to the surface, the landers deploy small, local rovers to collect samples. Mission B starts with 4 Titan IV launches, used to place the parts of the Planetary Transfer Vehicle (PTV) into orbit. The fourth launch payload is able to move to assemble the entire vehicle by simple docking routines. Once complete, the PTV begins a low thrust trajectory out from low Earth orbit, through interplanetary space, and into low Martian orbit. It deploys a communication satellite into a 1/2 sol orbit and then releases the lander package at 500 km altitude. The lander package contains the lander, the Mars Ascent Vehicle (MAV), two lighter than air rovers (called Aereons), and one conventional land rover. The entire package is contained with a biconic aeroshell. After release from the PTV, the lander package descends to the surface, where all three rovers are released to collect samples and map the terrain.

Desert Research and Technology Studies 2008 Report

NASA Technical Reports Server (NTRS)

Romig, Barbara; Kosmo, Joseph; Gernhardt, Michael; Abercromby, Andrew

2009-01-01

During the last two weeks of October 2008, the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) Advanced Extravehicular Activity (AEVA) team led the field test portion of the 2008 Desert Research and Technology Studies (D-RATS) near Flagstaff, AZ. The Desert RATS field test activity is the year-long culmination of various individual science and advanced engineering discipline areas technology and operations development efforts into a coordinated field test demonstration under representative (analog) planetary surface terrain conditions. The 2008 Desert RATS was the eleventh RATS field test and was the most focused and successful test to date with participants from six NASA field centers, three research organizations, one university, and one other government agency. The main test objective was to collect Unpressurized Rover (UPR) and Lunar Electric Rover (LER) engineering performance and human factors metrics while under extended periods of representative mission-based scenario test operations involving long drive distances, night-time driving, Extravehicular Activity (EVA) operations, and overnight campover periods. The test was extremely successful with all teams meeting the primary test objective. This paper summarizes Desert RATS 2008 test hardware, detailed test objectives, test operations, and test results.

Microscopic Mapping of Minerals and Organics: A Modular Pulsed Raman Spectrometer Adaptable to Both Small and Large Landed Planetary Missions

NASA Astrophysics Data System (ADS)

Blacksberg, J.; Alerstam, E.; Maruyama, Y.; Cochrane, C.; Rossman, G. R.

2016-12-01

Raman spectroscopy combined with microscopic imaging is a powerful technique used to interrogate geological materials. In the laboratory, Raman spectroscopy is commonly used in the geosciences for mapping both major and minor mineral and organic constituents on a fine scale. This technique has proven valuable in analyzing planetary materials, including meteorites and lunar samples. By simultaneously analyzing microtexture and mineralogy, micro-Raman spectroscopy can provide essential information for inferring geologic processes by which planetary surfaces have evolved. Because Raman can perform these capabilities in a way that is non-destructive, requiring no sample preparation, it is extremely well suited for deployment on a planetary lander or rover arm. The pulsed Raman spectrometer presented here has been designed for maximum flexibility using miniaturized modular components in order to remain easily adaptable and relevant to numerous planetary surface missions (e.g. asteroids, comets, Mars, Mars' moons, Europa, Titan). Building on the widely used 532 nm laser Raman technique, the pulsed Raman spectrometer takes advantage of recent developments in miniaturized pulsed lasers and detectors; the instrument uses sub-ns time gating to remove pervasive background interference caused by fluorescence inherent in many minerals and organics. This technique ensures acquisition of diagnostic Raman spectra, even in environments that have been known to severely challenge conventional methods (e.g. aqueously-formed minerals from similar environments on Earth). We present the architecture and performance of the pulsed Raman spectrometer, which relies on our single photon avalanche diode (SPAD) detector synchronized with our high-speed microchip laser, both custom-built for this application. It is these key technological developments that now make time-gated Raman spectroscopy possible for applications where miniaturization is crucial. We then discuss recent progress in laser performance that enhances Raman return, provides improved fluorescence rejection, and minimizes damage to sensitive samples.

Applications for Mission Operations Using Multi-agent Model-based Instructional Systems with Virtual Environments

NASA Technical Reports Server (NTRS)

Clancey, William J.

2004-01-01

This viewgraph presentation provides an overview of past and possible future applications for artifical intelligence (AI) in astronaut instruction and training. AI systems have been used in training simulation for the Hubble Space Telescope repair, the International Space Station, and operations simulation for the Mars Exploration Rovers. In the future, robots such as may work as partners with astronauts on missions such as planetary exploration and extravehicular activities.

Ambler - Performance of a six-legged planetary rover

NASA Astrophysics Data System (ADS)

Krotkov, E. P.; Simmons, R. G.; Whittaker, W. L.

1992-08-01

In this paper, several performance metrics are quantified for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. Power consumption measures are presented for walking on sandy terrain and for vertical lifts at different velocities. The performance of a novel dead reckoning approach is documented, and its accuracy is analyzed. The results of autonomous walking experiments are described in terms of terrain traversed, walking speed, and endurance.

Robust Agent Control of an Autonomous Robot with Many Sensors and Actuators

DTIC Science & Technology

1993-05-01

Overview 22 3.1 Issues of Controller Design ........................ 22 3.2 Robot Behavior Control Philosophy .................. 23 3.3 Overview of the... designed and built by our lab as an 9 Figure 1.1- Hannibal. 10 experimental platform to explore planetary micro-rover control issues (Angle 1991). When... designing the robot, careful consideration was given to mobility, sensing, and robustness issues. Much has been said concerning the advan- tages of

Ambler - Performance of a six-legged planetary rover

NASA Technical Reports Server (NTRS)

Krotkov, E. P.; Simmons, R. G.; Whittaker, W. L.

1992-01-01

In this paper, several performance metrics are quantified for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. Power consumption measures are presented for walking on sandy terrain and for vertical lifts at different velocities. The performance of a novel dead reckoning approach is documented, and its accuracy is analyzed. The results of autonomous walking experiments are described in terms of terrain traversed, walking speed, and endurance.

Space-Related Applications of Intelligent Control: Which Algorithm to Choose? (Theoretical Analysis of the Problem)

NASA Technical Reports Server (NTRS)

Kreinovich, Vladik

1996-01-01

For a space mission to be successful it is vitally important to have a good control strategy. For example, with the Space Shuttle it is necessary to guarantee the success and smoothness of docking, the smoothness and fuel efficiency of trajectory control, etc. For an automated planetary mission it is important to control the spacecraft's trajectory, and after that, to control the planetary rover so that it would be operable for the longest possible period of time. In many complicated control situations, traditional methods of control theory are difficult or even impossible to apply. In general, in uncertain situations, where no routine methods are directly applicable, we must rely on the creativity and skill of the human operators. In order to simulate these experts, an intelligent control methodology must be developed. The research objectives of this project were: to analyze existing control techniques; to find out which of these techniques is the best with respect to the basic optimality criteria (stability, smoothness, robustness); and, if for some problems, none of the existing techniques is satisfactory, to design new, better intelligent control techniques.

Mineralogy and astrobiology detection using laser remote sensing instrument.

PubMed

Abedin, M Nurul; Bradley, Arthur T; Sharma, Shiv K; Misra, Anupam K; Lucey, Paul G; McKay, Christopher P; Ismail, Syed; Sandford, Stephen P

2015-09-01

A multispectral instrument based on Raman, laser-induced fluorescence (LIF), laser-induced breakdown spectroscopy (LIBS), and a lidar system provides high-fidelity scientific investigations, scientific input, and science operation constraints in the context of planetary field campaigns with the Jupiter Europa Robotic Lander and Mars Sample Return mission opportunities. This instrument conducts scientific investigations analogous to investigations anticipated for missions to Mars and Jupiter's icy moons. This combined multispectral instrument is capable of performing Raman and fluorescence spectroscopy out to a >100  m target distance from the rover system and provides single-wavelength atmospheric profiling over long ranges (>20  km). In this article, we will reveal integrated remote Raman, LIF, and lidar technologies for use in robotic and lander-based planetary remote sensing applications. Discussions are focused on recently developed Raman, LIF, and lidar systems in addition to emphasizing surface water ice, surface and subsurface minerals, organics, biogenic, biomarker identification, atmospheric aerosols and clouds distributions, i.e., near-field atmospheric thin layers detection for next robotic-lander based instruments to measure all the above-mentioned parameters.

Lunar and Planetary Science XXXV: Undergraduate Education and Research Programs, Facilities, and Information Access

NASA Technical Reports Server (NTRS)

2004-01-01

The titles in this section include: 1) GRIDVIEW: Recent Improvements in Research and Education Software for Exploring Mars Topography; 2) Software and Hardware Upgrades for the University of North Dakota Asteroid and Comet Internet Telescope (ACIT); 3) Web-based Program for Calculating Effects of an Earth Impact; 4) On-Line Education, Web- and Virtual-Classes in an Urban University: A Preliminary Overview; 5) Modelling Planetary Material's Structures: From Quasicrystalline Microstructure to Crystallographic Materials by Use of Mathematica; 6) How We Used NASA Lunar Set in Planetary and Material Science Studies: Textural and Cooling Sequences in Sections of Lava Column from a Thin and a Thick Lava-Flow, from the Moon and Mars with Terrestrial Analogue and Chondrule Textural Comparisons; 7) Classroom Teaching of Space Technology and Simulations by the Husar Rover Model; 8) New Experiments (In Meteorology, Aerosols, Soil Moisture and Ice) on the New Hunveyor Educational Planetary Landers of Universities and Colleges in Hungary; 9) Teaching Planetary GIS by Constructing Its Model for the Test Terrain of the Hunveyor and Husar; 10) Undergraduate Students: An Untapped Resource for Planetary Researchers; 11) Analog Sites in Field Work of Petrology: Rock Assembly Delivered to a Plain by Floods on Earth and Mars; 12) RELAB (Reflectance Experiment Laboratory): A NASA Multiuser Spectroscopy Facility; 13) Full Text Searching and Customization in the NASA ADS Abstract Service.

Vision and Voyages: Lessons Learned from the Planetary Decadal Survey

NASA Astrophysics Data System (ADS)

Squyres, S. W.

2015-12-01

The most recent planetary decadal survey, entitled Vision and Voyages for Planetary Science in the Decade 2013-2022, provided a detailed set of priorities for solar system exploration. Those priorities drew on broad input from the U.S. and international planetary science community. Using white papers, town hall meetings, and open meetings of the decadal committees, community views were solicited and a consensus began to emerge. The final report summarized that consensus. Like many past decadal reports, the centerpiece of Vision and Voyages was a set of priorities for future space flight projects. Two things distinguished this report from some previous decadals. First, conservative and independent cost estimates were obtained for all of the projects that were considered. These independent cost estimates, rather than estimates generated by project advocates, were used to judge each project's expected science return per dollar. Second, rather than simply accepting NASA's ten-year projection of expected funding for planetary exploration, decision rules were provided to guide program adjustments if actual funding did not follow projections. To date, NASA has closely followed decadal recommendations. In particular, the two highest priority "flagship" missions, a Mars rover to collect samples for return to Earth and a mission to investigate a possible ocean on Europa, are both underway. The talk will describe the planetary decadal process in detail, and provide a more comprehensive assessment of NASA's response to it.

The Mars Plant Growth Experiment and Implications for Planetary Protection

NASA Astrophysics Data System (ADS)

Smith, Heather

Plants are the ultimate and necessary solution for O2 production at a human base on Mars. Currently it is unknown if seeds can germinate on the Martian surface. The Mars Plant growth experiment (MPX) is a proposal for the first step in the development of a plant- based O2 production system by demonstrating plant germination and growth on the Martian surface. There is currently no planetary protection policy in place that covers plants on the Martian surface. We describe a planetary protection plan in compliance with NASA and COSPAR policy for a closed plant growth chamber on a Mars rover. We divide the plant growth chamber into two categories for planetary protection, the Outside: the outside of the chamber exposed to the Martian environment, and the Inside: the inside of the chamber which is sealed off from Mars atmosphere and contains the plant seeds and ancillary components for seed growth. We will treat outside surfaces of the chamber as other outside surfaces on the rover, wiped with a mixture of isopropyl alcohol and water as per Category IVb planetary protection requirements. All internal components of the MPX except the seeds and camera (including the water system, the plant growth stage and interior surface walls) will be sterilized by autoclave and subjected to sterilizing dry heat at a temperature of 125°C at an absolute humidity corresponding to a relative humidity of less than 25 percent referenced to the standard conditions of 0°C and 760 torr pressure. The seeds and internal compartments of the MPX in contact with the growth media will be assembled and tested to be free of viable microbes. MPX, once assembled, cannot survive Dry Heat Microbial Reduction. The camera with the radiation and CO2 sensors will be sealed in their own container and vented through HEPA filters. The seeds will be vernalized (microbe free) as per current Space Station methods described by Paul et al. 2001. Documentation of the lack of viable microbes on representative seeds from the same seed lot as used in the flight unit and lack of viable microbes in the interior of the MPX will be confirmed by the assay methods outlined in NASA HDBK 6022. In this method surfaces are swabbed and the cells collected on the swabs are extracted and then cultured following a standard protocol. All operations involving the manipulation of sterile items and sample processing shall be performed in laminar flow environments meeting Class 100 air cleanliness requirements of Federal Standard 209B. The entire MPX will be assembled in a sterile environment within a month of launch if possible, but could withstand an earlier assembly if required.

Advances in Autonomous Systems for Missions of Space Exploration

NASA Astrophysics Data System (ADS)

Gross, A. R.; Smith, B. D.; Briggs, G. A.; Hieronymus, J.; Clancy, D. J.

New missions of space exploration will require unprecedented levels of autonomy to successfully accomplish their objectives. Both inherent complexity and communication distances will preclude levels of human involvement common to current and previous space flight missions. With exponentially increasing capabilities of computer hardware and software, including networks and communication systems, a new balance of work is being developed between humans and machines. This new balance holds the promise of meeting the greatly increased space exploration requirements, along with dramatically reduced design, development, test, and operating costs. New information technologies, which take advantage of knowledge-based software, model-based reasoning, and high performance computer systems, will enable the development of a new generation of design and development tools, schedulers, and vehicle and system health monitoring and maintenance capabilities. Such tools will provide a degree of machine intelligence and associated autonomy that has previously been unavailable. These capabilities are critical to the future of space exploration, since the science and operational requirements specified by such missions, as well as the budgetary constraints that limit the ability to monitor and control these missions by a standing army of ground- based controllers. System autonomy capabilities have made great strides in recent years, for both ground and space flight applications. Autonomous systems have flown on advanced spacecraft, providing new levels of spacecraft capability and mission safety. Such systems operate by utilizing model-based reasoning that provides the capability to work from high-level mission goals, while deriving the detailed system commands internally, rather than having to have such commands transmitted from Earth. This enables missions of such complexity and communications distance as are not otherwise possible, as well as many more efficient and low cost applications. One notable example of such missions are those to explore for the existence of water on planets such as Mars and the moons of Jupiter. It is clear that water does not exist on the surfaces of such bodies, but may well be located at some considerable depth below the surface, thus requiring a subsurface drilling capability. Subsurface drilling on planetary surfaces will require a robust autonomous control and analysis system, currently a major challenge, but within conceivable reach of planned technology developments. This paper will focus on new and innovative software for remote, autonomous, space systems flight operations, including flight test results, lessons learned, and implications for the future. An additional focus will be on technologies for planetary exploration using autonomous systems and astronaut-assistance systems that employ new spoken language technology. Topics to be presented will include a description of key autonomous control concepts, illustrated by the Remote Agent program that commanded the Deep Space 1 spacecraft to new levels of system autonomy, recent advances in distributed autonomous system capabilities, and concepts for autonomous vehicle health management systems. A brief description of teaming spacecraft and rovers for complex exploration missions will also be provided. New software for autonomous science data acquisition for planetary exploration will also be described, as well as advanced systems for safe planetary landings. Current results of autonomous planetary drilling system research will be presented. A key thrust within NASA is to develop technologies that will leverage the capabilities of human astronauts during planetary surface explorations. One such technology is spoken dialogue interfaces, which would allow collaboration with semi-autonomous agents that are engaged in activities that are normally accomplished using language, e.g., astronauts in space suits interacting with groups of semi-autonomous rovers and other astronauts. This technology will be described and discussed in the context of future exploration missions and the major new capabilities enabled by such systems. Finally, plans and directions for the future of autonomous systems will be presented.

The Canadian space agency planetary analogue materials suite

NASA Astrophysics Data System (ADS)

Cloutis, Edward A.; Mann, Paul; Izawa, Matthew R. M.; Applin, Daniel M.; Samson, Claire; Kruzelecky, Roman; Glotch, Timothy D.; Mertzman, Stanley A.; Mertzman, Karen R.; Haltigin, Timothy W.; Fry, Christopher

2015-12-01

The Canadian Space Agency (CSA) recently commissioned the development of a suite of over fifty well-characterized planetary analogue materials. These materials are terrestrial rocks and minerals that are similar to those known or suspected to occur on the lunar or martian surfaces. These include: Mars analogue sedimentary, hydrothermal, igneous and low-temperature alteration rock suites; lunar analogue basaltic and anorthositic rock suites; and a generic impactite rock suite from a variety of terrestrial impact structures. Representative thin sections of the materials have been characterized by optical microscopy and electron probe microanalysis (EPMA). Reflectance spectra have been collected in the ultraviolet, visible, near-infrared and mid-infrared, covering 0.2-25 μm. Thermal infrared emission spectra were collected from 5 to 50 μm. Raman spectra with 532 nm excitation, and laser-induced fluorescence spectra with 405 nm excitation were also measured. Bulk chemical analysis was carried out using X-ray fluorescence, with Fe valence determined by wet chemistry. Chemical and mineralogical data were collected using a field-portable Terra XRD-XRF instrument similar to CheMin on the MSL Curiosity rover. Laser-induced breakdown spectroscopy (LIBS) data similar to those measured by ChemCam on MSL were collected for powdered samples, cut slab surfaces, and as depth profiles into weathered surfaces where present. Three-dimensional laser camera images of rock textures were collected for selected samples. The CSA intends to make available sample powders (<45 μm and 45-1000 μm grain sizes), thin sections, and bulk rock samples, and all analytical data collected in the initial characterisation study to the broader planetary science community. Aiming to complement existing planetary analogue rock and mineral libraries, the CSA suite represents a new resource for planetary scientists and engineers. We envision many potential applications for these materials in the definition, development and testing of new analytical instruments for use in planetary missions, as well as possible calibration and ground-truthing of remote sensing data sets. These materials may also be useful as reference materials for cross-calibration between different instruments and laboratories. Comparison of the analytical data for selected samples is useful for highlighting the relative strengths, weaknesses and synergies of different analytical techniques.

The Potassium-Argon Laser Experiment (KARLE): In Situ Geochronology for Planetary Robotic Missions

NASA Technical Reports Server (NTRS)

Cohen, B. A.; Devismes, D.; Miller, J. S.; Swindle, T. D.

2014-01-01

Isotopic dating is an essential tool to establish an absolute chronology for geological events, including crystallization history, magmatic evolution, and alteration events. The capability for in situ geochronology will open up the ability for geochronology to be accomplished as part of lander or rover complement, on multiple samples rather than just those returned. An in situ geochronology package can also complement sample return missions by identifying the most interesting rocks to cache or return to Earth. The K-Ar Laser Experiment (KArLE) brings together a novel combination of several flight-proven components to provide precise measurements of potassium (K) and argon (Ar) that will enable accurate isochron dating of planetary rocks. KArLE will ablate a rock sample, measure the K in the plasma state using laser-induced breakdown spectroscopy (LIBS), measure the liberated Ar using mass spectrometry (MS), and relate the two by measuring the volume of the ablated pit by optical imaging. Our work indicates that the KArLE instrument is capable of determining the age of planetary samples with sufficient accuracy to address a wide range of geochronology problems in planetary science. Additional benefits derive from the fact that each KArLE component achieves analyses useful for most planetary surface missions.

A Modular Re-configurable Rover System

NASA Astrophysics Data System (ADS)

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

In this paper we present the novel concepts incorporated in a planetary surface exploration rover design that is currently under development. The Multitasking Rover (MTR) aims to demonstrate functionality that will cover many of the current and future needs such as rough-terrain mobility, modularity and upgradeability [1]. The rover system has enhanced mobility characteristics. It operates in conjunction with Science Packs (SPs) and Tool Packs (TPs) - modules attached to the main frame of the rover, which are either special tools or science instruments and alter the operation capabilities of the system. To date, each rover system design is very much task driven for example, the scenario of cooperative transportation of extended payloads [2], comprises two rovers each equipped with a manipulator dedicated to the task [3]. The MTR approach focuses mostly on modularity and upgradeability presenting at the same time a fair amount of internal re-configurability for the sake of rough terrain stability. The rover itself does not carry any scientific instruments or tools. To carry out the scenario mentioned above, the MTR would have to locate and pick-up a TP with the associated manipulator. After the completion of the task the TP could be put away to a storage location enabling the rover to utilize a different Pack. The rover will not only offer mobility to these modules, but also use them as tools, transforming its role and functionality. The advantage of this approach is that instead of sending a large number of rovers to perform a variety of tasks, a smaller number of MTRs could be deployed with a large number of SPs/TPs, offering multiples of the functionality at a reduced payload. Two SPs or TPs (or a combination of) can be carried and deployed. One of the key elements in the design of the four wheeled rover, lies within its suspension system. It comprises a linear actuator located within each leg and also an active differential linking the two shoulders. This novel design allows the MTR to lift, lower, roll or tilt its body. It also provides the ability to lift any of the legs by nearly 300mm, enhancing internal re-configurability and therefore rough terrain stability off the robotic vehicle. A modular software and control architecture will be used so that integration to, and operation through the MTR, of different Packs can be demonstrated. An on-board high-level controller [4] will communicate with a small network of micro-controllers through an RS485 bus. Additional processing power could be obtained through a Pack with equivalent or higher computational capabilities. 1 The nature of the system offers many opportunities for behavior based control. The control system must accommodate not only rover based behaviors like obstacle avoidance and vehicle stabilization, but also any additional behaviors that different Packs may introduce. The Ego-Behavior Architecture (EBA) [5] comprises a number of behaviors which operate autonomously and independent of each other. This facilitates the design and suits the operation of the MTR since it fulfills the need for uncomplicated assimilation of new behaviors in the existing architecture. Our work at the moment focuses on the design and construction of the mechanical and electronic systems for the MTR and an associated Pack. References [1] NASA, Human Exploration of Mars: The Reference Mission (Version 3.0 with June, 1998 Addendum) of the NASA Mars Exploration Study Team, Exploration Office, Advanced Development Office, Lyndon B. Johnson Space Center, Houston, TX 77058, June, 1998. [2] A. Trebi-Ollennu, H Das Nayer, H Aghazarian, A ganino, P Pirjanian, B Kennedy, T Huntsberger and P Schenker, Mars Rover Pair Cooperatively Transporting a Long Payload, in Proceedings of the 2002 IEEE International Conference on Robotics and Automation, May 2002, pp. 3136-3141. [3] A. K. Bouloubasis, G. T McKee, P. S. Schenker, A Behavior-Based Manipulator for Multi-Robot Transport Tasks, in proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2003, Taipei, Taiwan, September 2003, pp. 2287-2292. [4] www.gumstix.com [5] M. G. Lewis, P. M. Sharkey, A plug and play architecture for emergent behaviour in robot control, Proceedings Configuration an Control Aspects of Mechatronics, Ilmeneau, Germany, September 1997. 2

Manufacture of Solar Cells on the Moon

NASA Technical Reports Server (NTRS)

Freundich, Alex; Ignatiev, Alex; Horton, Charles; Duke, Mike; Curren, Peter; Sibille, Laurent

2005-01-01

In support of the space exploration initiative a new architecture for the production of solar cells on the lunar surface is devised. The paper discusses experimental data on the fabrication and properties of lunar glass substrates, evaporated lunar regolith thin film (antireflect coatings and insulators), and preliminary attempts in the fabrication of thin film (silicon/II-VI) photovoltaic materials on lunar regolith substrates. A conceptual design for a solar powered robotic rover capable of fabricating solar cells directly on the lunar surface is provided. Technical challenges in the development of such a facility and strategies to alleviate perceived difficulties are discussed. Finally, preliminary cost benefit ratio analysis for different in situ solar cell production scenarios (using exclusively in-situ planetary resources or hybrid) are discussed.

Micromega IR, an infrared hyperspectral microscope for space exploration

NASA Astrophysics Data System (ADS)

Pilorget, C.; Bibring, J.-P.; Berthe, M.; Hamm, V.

2017-11-01

The coupling between imaging and spectrometry has proved to be one of the most promising way to study remotely planetary objects [1][2]. The next step is to use this concept for in situ analyses. MicrOmega IR has been developed within this scope. It is an ultra miniaturized near-infrared hyperspectral microscope dedicated to in situ analyses, selected to be part of the ESA/ExoMars rover and RKA/Phobos Grunt lander payload. The goal of this instrument is to characterize the composition of samples at almost their grain size scale, in a nondestructive way. Coupled to the mapping information, it provides unique clues to trace back the history of the parent body (planet, satellite or small body) [3][4].

A perspective on space robotics in Japan

NASA Technical Reports Server (NTRS)

Ohkami, Yoshiaki; Nakatani, Ichiro; Wakabayashi, Yasufumi; Iwata, Tsutomu

1994-01-01

This report summarizes the research and development status and perspective on space robotics in Japan. The R & D status emphasizes the current on-going projects at NASDA including the JEM Remote Manipulator System (JEMRMS) to be used on Space Station Freedom and the robotics experiments on Engineering Satellite 7 (ETS-7). As a future perspective, not only NASDA, but also ISAS and other government institutes have been promoting their own research in space robotics in order to support wide spread space activities in the future. Included in this future research is an autonomous satellite retrieval experiment, a dexterous robot experiment, an on-orbit servicing platform, an IVA robot, and several moon/planetary rovers proposed by NASDA or ISAS and other organizations.

Bringing the Excitement of Exploring Mars and the Giant Planets to Educators and the Public

NASA Astrophysics Data System (ADS)

Morrow, C. A.; Dusenbery, P. B.; Harold, J.

2003-05-01

We are living in a wonderful era of planetary exploration. In 2004 alone, two rovers will land on Mars and the Cassini-Huygens mission will arrive in the Saturn system for an extended 4-year tour. These events will bring much public attention and provide excellent reasons for substantive educational outreach to educators and the public. The Space Science Institute (SSI) of Boulder, CO and collaborators are responding with a comprehensive array of funded and proposed projects. These include the refurbishment and redeployment of the 5000 sq. ft MarsQuest national traveling exhibition, the launch of a 600 sq. ft. "mini-MarsQuest" called Destination Mars, the launch of an interactive website called "MarsQuest Online" (in partnership with TERC and JPL), a variety of workshops for teachers, museum educators, and planetarians (in partnership with "To Mars with MER", and JPL), and the development of a "Family Guide to Mars" for use by adults and children in informal learning settings. SSI is also proposing to develop another national traveling exhibition called "Giant Planets: Exploring the Outer Solar System". This exhibit (envisioned to be 3500 sq.ft.) and its educational program will take advantage of the excitement generated by the Cassini mission and origins-related research. Its education program will also benefit from SSI having led the development of the "Saturn Educator Guide" - a JPL-sponsored resource for teachers in grades 5 and up. This paper will provide an overview of our resources in planetary science education and communicate the valuable lessons we've learned about their design, development and dissemination. SSI's educational endeavors related to planetary science have been funded by several NASA and NSF grants and contracts.

Preliminary assessment of rover power systems for the Mars Rover Sample Return Mission

NASA Technical Reports Server (NTRS)

Bents, David J.

1989-01-01

Four isotope power system concepts were presented and compared on a common basis for application to on-board electrical prime power for an autonomous planetary rover vehicle. A representative design point corresponding to the Mars Rover Sample Return (MRSR) preliminary mission requirements (500 W) was selected for comparison purposes. All systems concepts utilize the General Purpose Heat Source (GPHS) isotope heat source developed by DOE. Two of the concepts employ thermoelectric (TE) conversion: one using the GPHS Radioisotope Thermoelectric Generator (RTG) used as a reference case, the other using an advanced RTG with improved thermoelectric materials. The other two concepts employed are dynamic isotope power systems (DIPS): one using a closed Brayton cycle (CBC) turboalternator, and the other using a free piston Stirling cycle engine/linear alternator (FPSE) with integrated heat source/heater head. Near term technology levels have been assumed for concept characterization using component technology figure-of-merit values taken from the published literature. For example, the CBC characterization draws from the historical test database accumulated from space Brayton cycle subsystems and components from the NASA B engine through the mini-Brayton rotating unit. TE system performance is estimated from Voyager/multihundred Watt (MHW)-RTG flight experience through Mod-RTG performance estimates considering recent advances in TE materials under the DOD/DOE/NASA SP-100 and NASA Committee on Scientific and Technological Information programs. The Stirling DIPS system is characterized from scaled-down Space Power Demonstrator Engine (SPDE) data using the GPHS directly incorporated into the heater head. The characterization/comparison results presented here differ from previous comparison of isotope power (made for Low Earth Orbit (LEO) applications) because of the elevated background temperature on the Martian surface compared to LEO, and the higher sensitivity of dynamic systems to elevated sink temperature. The mass advantage of dynamic systems is significantly reduced for this application due to Mars' elevated background temperature.

The Mars Science Laboratory Curiosity rover Mastcam instruments: Preflight and in-flight calibration, validation, and data archiving

USGS Publications Warehouse

Bell, James F.; Godber, A.; McNair, S.; Caplinger, M.A.; Maki, J.N.; Lemmon, M.T.; Van Beek, J.; Malin, M.C.; Wellington, D.; Kinch, K.M.; Madsen, M.B.; Hardgrove, C.; Ravine, M.A.; Jensen, E.; Harker, D.; Anderson, Ryan; Herkenhoff, Kenneth E.; Morris, R.V.; Cisneros, E.; Deen, R.G.

2017-01-01

The NASA Curiosity rover Mast Camera (Mastcam) system is a pair of fixed-focal length, multispectral, color CCD imagers mounted ~2 m above the surface on the rover's remote sensing mast, along with associated electronics and an onboard calibration target. The left Mastcam (M-34) has a 34 mm focal length, an instantaneous field of view (IFOV) of 0.22 mrad, and a FOV of 20° × 15° over the full 1648 × 1200 pixel span of its Kodak KAI-2020 CCD. The right Mastcam (M-100) has a 100 mm focal length, an IFOV of 0.074 mrad, and a FOV of 6.8° × 5.1° using the same detector. The cameras are separated by 24.2 cm on the mast, allowing stereo images to be obtained at the resolution of the M-34 camera. Each camera has an eight-position filter wheel, enabling it to take Bayer pattern red, green, and blue (RGB) “true color” images, multispectral images in nine additional bands spanning ~400–1100 nm, and images of the Sun in two colors through neutral density-coated filters. An associated Digital Electronics Assembly provides command and data interfaces to the rover, 8 Gb of image storage per camera, 11 bit to 8 bit companding, JPEG compression, and acquisition of high-definition video. Here we describe the preflight and in-flight calibration of Mastcam images, the ways that they are being archived in the NASA Planetary Data System, and the ways that calibration refinements are being developed as the investigation progresses on Mars. We also provide some examples of data sets and analyses that help to validate the accuracy and precision of the calibration

Genotypic & Phenotypic Diversity of Microbial Isolates from the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Arora-Williams, Keith

2012-01-01

Mars-bound rovers such as the Mars Exploration Rover (MER) endure strict planetary protection implementation campaigns to assess bioburden. The objective of this study is to identify cultivable microorganisms isolated by the NASA Standard Assay from spacecraft during pre-launch and evaluate their potential to survive conditions on the Martian surface. Of approximately 350 isolates collected from the MER spacecraft archive, 171 microorganisms were reconstituted for characterization via 16S rRNA fingerprinting. Alignment of 16S sequences revealed high levels of sequence similarity to spore-forming species, overwhelmingly of the genera Bacillus (73.7%) and Paenibacillus (14.0%). Samples underwent phenotype characterization employing multiple carbon sources and ion concentrations in an automated microarray format using the Omnilog system. Working and stock cultures were prepared to address the immediate needs for day-to-day culture utilization and long-term preservation, respectively. Results from this study produced details about the microbes that contaminate surfaces of spacecraft, as well as a preliminary evaluation of a rapid biochemical ID method that also provides a phenotypic assessment of contaminants. The overall outcome of this study will benefit emerging cleaning and sterilization technologies for preventing forward contamination that could negatively impact future life detection or sample return missions.

The Applications of NASA Mission Technologies to the Greening of Human Impact

NASA Technical Reports Server (NTRS)

Sims, Michael H.

2009-01-01

I will give an overview talk about flight software systems, robotics technologies and modeling for energy minimization as applied to vehicles and buildings infrastructures. A dominant issue in both design and operations of robotic spacecraft is the minimization of energy use. In the design and building of spacecraft increased power is acquired only at the cost of additional mass and volumes and ultimately cost. Consequently, interplanetary spacecrafts are designed to have the minimum essential power and those designs often incorporate careful timing of all power use. Operationally, the availability of power is the most influential constraint for the use of planetary surface robots, such as the Mars Exploration Rovers. The amount of driving done, the amount of science accomplished and indeed the survivability of the spacecraft itself is determined by the power available for use. For the Mars Exploration Rovers there are four tools which are used: (1) models of the rover and it s thermal and power use (2) predictive environmental models of power input and thermal environment (3) fine grained manipulation of power use (4) optimization modeling and planning tools. In this talk I will discuss possible applications of this methodology to minimizing power use on Earth, especially in buildings.

LAVA subsystem integration and testing for the Resolve payload of the Resource Prospector mission: mass spectrometers and gas chromatography

NASA Astrophysics Data System (ADS)

Stewart, Elaine M.; Coan, Mary R.; Captain, Janine; Santiago-Bond, Josephine

2016-09-01

In-Situ Resource Utilization (ISRU) is a key NASA initiative to exploit resources at the site of planetary exploration for mission-critical consumables, propellants, and other supplies. The Resource Prospector mission, part of ISRU, is scheduled to launch in 2020 and will include a rover and lander hosting the Regolith and Environment Science and Oxygen and Lunar Volatile Extraction (RESOLVE) payload for extracting and analyzing lunar resources, particularly low molecular weight volatiles for fuel, air, and water. RESOLVE contains the Lunar Advanced Volatile Analysis (LAVA) subsystem with a Gas Chromatograph-Mass Spectrometer (GC-MS). RESOLVE subsystems, including the RP15 rover and LAVA, are in NASA's Engineering Test Unit (ETU) phase to assure that all vital components of the payload are space-flight rated and will perform as expected during the mission. Integration and testing of LAVA mass spectrometry verified reproducibility and accuracy of the candidate MS for detecting nitrogen, oxygen, and carbon dioxide. The RP15 testing comprised volatile analysis of water-doped simulant regolith to enhance integration of the RESOLVE payload with the rover. Multiple tests show the efficacy of the GC to detect 2% and 5% water-doped samples.

Telerobotic workstation design aid

NASA Technical Reports Server (NTRS)

Corker, K.; Hudlicka, E.; Young, D.; Cramer, N.

1989-01-01

Telerobot systems are being developed to support a number of space mission applications. In low earth orbit, telerobots and teleoperated manipulators will be used in shuttle operations and space station construction/maintenance. Free flying telerobotic service vehicles will be used at low and geosynchronous orbital operations. Rovers and autonomous vehicles will be equipped with telerobotic devices in planetary exploration. In all of these systems, human operators will interact with the robot system at varied levels during the scheduled operations. The human operators may be in either orbital or ground-based control systems. To assure integrated system development and maximum utility across these systems, designers must be sensitive to the constraints and capabilities that the human brings to system operation and must be assisted in applying these human factors to system development. The simulation and analysis system is intended to serve the needs of system analysis/designers as an integrated workstation in support of telerobotic design.

Instrumentation for in situ sampling and analysis of compounds of interest to Astrobiology in the lower atmosphere and surface of Titan

NASA Technical Reports Server (NTRS)

Holland, Paul M.; Kojiro, Daniel R.; Stimac, Robert; Kaye, William; Takeuchi, Nori

2006-01-01

Instrumentation for exploration of the solar system will require new enabling technology for in situ sample acquisition and analysis of pre-biotic chemistry in extreme planetary environments, such as that encountered at the surface of Titan. The potential use of balloon aero-rovers for Titan places special emphasis on the importance of miniaturization, low power and low usage of consumables. To help meet this need, we are developing a miniature gas chromatograph coupled with a new Mini-Cell ion mobility spectrometer (GC-IMS), and one of us (PMH) has begun development work on a miniaturized cryogenic inlet system with sampling probes for Titan. This instrumentation, and its approach for meeting measurement needs for the analysis of prebiotic chemistry on Titan, will be discussed.

Irregular and adaptive sampling for automatic geophysic measure systems

NASA Astrophysics Data System (ADS)

Avagnina, Davide; Lo Presti, Letizia; Mulassano, Paolo

2000-07-01

In this paper a sampling method, based on an irregular and adaptive strategy, is described. It can be used as automatic guide for rovers designed to explore terrestrial and planetary environments. Starting from the hypothesis that a explorative vehicle is equipped with a payload able to acquire measurements of interesting quantities, the method is able to detect objects of interest from measured points and to realize an adaptive sampling, while badly describing the not interesting background.

Thermal and range fusion for a planetary rover

NASA Technical Reports Server (NTRS)

Caillas, Claude

1992-01-01

This paper describes how fusion between thermal and range imaging allows us to discriminate different types of materials in outdoor scenes. First, we analyze how pure vision segmentation algorithms applied to thermal images allow discriminating materials such as rock and sand. Second, we show how combining thermal and range information allows us to better discriminate rocks from sand. Third, as an application, we examine how an autonomous legged robot can use these techniques to explore other planets.

Autonomous Planetary Rover at Carnegie Mellon

DTIC Science & Technology

1991-08-01

preplanned motions to test the limits of the Ambler’s mobility. This has included stepping down the sheer face of a meter high rock into a meter deep trench...NASA or the planning in the face of uncertainties and conflicting constraints. US Government. and coordinating a distributed software system. Future...planning process. 0 Calculate the’minimum Ambler height s. -,e body or A sequence of point-turn to face the goal, move in a sweeping legs just contacb

Performance of a six-legged planetary rover - Power, positioning, and autonomous walking

NASA Technical Reports Server (NTRS)

Krotkov, Eric; Simmons, Reid

1992-01-01

The authors quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. They present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. They document the accuracy of a novel dead reckoning approach, and analyze the accuracy. They describe the results of autonomous walking experiments in terms of terrain traversed, walking speed, number of instructions executed and endurance.

Performance of a six-legged planetary rover - Power, positioning, and autonomous walking

NASA Astrophysics Data System (ADS)

Krotkov, Eric; Simmons, Reid

The authors quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. They present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. They document the accuracy of a novel dead reckoning approach, and analyze the accuracy. They describe the results of autonomous walking experiments in terms of terrain traversed, walking speed, number of instructions executed and endurance.

Design and Hardware-in-the-Loop Implementation of Optimal Canonical Maneuvers for an Autonomous Planetary Aerial Vehicle

DTIC Science & Technology

2012-12-01

selflessly working your own school and writing schedule around mine , supporting me throughout career paths that have been anything but traditional...observation, and other scientific research and exploration purposes. 4 A ground rover on a planet, moon, or other body such as an asteroid must...applied to autonomous craft that could eventually operate on the surface of planets, moons, and asteroids , as well as in Earth orbit or deep space

Navigation and EDL for the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Watkins, Michael M.; Han, Dongsuk

2006-01-01

A viewgraph presentation on Deep Space Navigation, and Entry, Decent, and Landing (EDL) for Mars Exploration Rovers is shown. The contents include: 1) JPL Spacecraft Operating across the Solar System; 2) 2003 - 2004: The Busiest Period in JPL's History; 3) Deep Space Navigation Will Enable Many of the New NASA Missions; 4) What Exactly is Navigation vs. GNC for Deep Space?; 5) Cruise and Approach: Why is Deep Space Navigation So Difficult?; 6) Project Importance of GNC: Landing Site Selection; 7) Planetary Communications and Tracking; 8) Tracking Data Types; 9) Delta Differential One-Way Range (deltaDOR); 10) All Solutions Leading up to TCM-4 Design; 11) Entry Flight Path Sensitivities; 12) MER Navigation Results; 13) Atmospheric Entry Targeting and Delivery; 14) Landing Ellipse Orientation; 15) MER Landing Site Trade Example; 16) Entry, Descent and Landing: Entry Guidance or What Things Do We NOT do for MER Landings (but we will later...); 17) Entering Martian Space 8:29 p.m. PST (ERT); 18) Entry, Descent and Landing; 19) Entry, Descent and Landing: Terminal Guidance; 20) The Challenge Going from 12,000 mph to Zero in Less Than Six Minutes; 21) Spirit Landing Location; 22) Entry, Descent and Landing: The Future; 23) Powered Descent Time-Line; and 24) Updated Sky Crane Maneuver Description. A short summary is also given on planetary guidance, navigation and control as it pertains to EDL systems

Mars Rover Model Celebration: Using Planetary Exploration To Enrich STEM Teaching In Elementary And Middle School

NASA Astrophysics Data System (ADS)

Bering, E. A.; Ramsey, J.; Dominey, W.; Kapral, A.; Carlson, C.; Konstantinidis, I.; James, J.; Sweaney, S.; Mendez, R.

2011-12-01

The present aerospace engineering and science workforce is ageing. It is not clear that the US education system will produce enough qualified replacements to meet the need in the near future. Unfortunately, by the time many students get to high school, it is often too late to get them pointed toward an engineering or science career. Since some college programs require 6 units of high school mathematics for admission, students need to begin consciously preparing for a science or engineering curriculum as early as 6th or 7th grade. The challenge for educators is to convince elementary school students that science and engineering are both exciting, relevant and accessible career paths. The recent NASA Mars Rover missions capture the imagination of children, as NASA missions have done for decades. The University of Houston is in the process of developing a prototype of a flexible program that offers children an in-depth educational experience culminating in the design and construction of their own model rover. The existing prototype program is called the Mars Rover Model Celebration. It focuses on students, teachers and parents in grades 3-8. Students will design and build a model of a Mars rover to carry out a student selected science mission on the surface of Mars. The model will be a mock-up, constructed at a minimal cost from art supplies. The students will build the models as part of a project on Mars. The students will be given design criteria for a rover and will do basic research on Mars that will determine the objectives and features of their rover. This project may be used either informally as an after school club or youth group activity or formally as part of a class studying general science, earth science, solar system astronomy or robotics, or as a multi-disciplinary unit for a gifted and talented program. The program culminates in a capstone event held at the University of Houston (or other central location in the other communities that will be involved) where the best models from each school or group are brought together for a celebratory showcase exhibit and judging. The project's unique strength lies in engaging students in the process of spacecraft design and interesting them in aerospace engineering careers. The project is aimed at elementary and secondary education. Not only will these students learn about scientific fields relevant to the mission (space science, physics, geology, robotics, and more), they will gain an appreciation for how this knowledge is used to tackle complex problems. The low cost of the event makes it an ideal enrichment vehicle for low income schools. It provides activities that provide professional development to educators, curricular support resources using NASA Science Mission Directorate (SMD) content, and provides family opportunities for involvement in K-12 student learning.

An in-situ K-Ar isochron dating method for planetary landers using a spot-by-spot laser-ablation technique

NASA Astrophysics Data System (ADS)

Cho, Yuichiro; Sugita, Seiji; Miura, Yayoi N.; Okazaki, Ryuji; Iwata, Naoyoshi; Morota, Tomokatsu; Kameda, Shingo

2016-09-01

Age is essential information for interpreting the geologic record on planetary surfaces. Although crater counting has been widely used to estimate the planetary surface ages, crater chronology in the inner solar system is largely built on radiometric age data from limited sites on the Moon. This has resulted in major uncertainty in planetary chronology. Because opportunities for sample-return missions are limited, in-situ geochronology measurements from one-way lander/rover missions are extremely valuable. Here we developed an in-situ isochron-based dating method using the K-Ar system, with K and Ar in a single rock sample extracted locally by laser ablation and measured using laser-induced breakdown spectroscopy (LIBS) and a quadrupole mass spectrometer (QMS), respectively. We built an experimental system combining flight-equivalent instruments and measured K-Ar ages for mineral samples with known ages (~1.8 Ga) and K contents (1-8 wt%); we achieved precision of 20% except for a mineral with low mechanical strength. Furthermore, validation measurements with two natural rocks (gneiss slabs) obtained K-Ar isochron ages and initial 40Ar consistent with known values for both cases. This result supports that our LIBS-MS approach can derive both isochron ages and contributions of non-in situ radiogenic 40Ar from natural rocks. Error assessments suggest that the absolute ages of key geologic events including the Noachian/Hesperian- and the Hesperian/Amazonian-transition can be dated with 10-20% errors for a rock containing ~1 wt% K2O, greatly reducing the uncertainty of current crater chronology models on Mars.

Geoanalyses of Lunokhods' regions for future Lunar missions and data access via Geoportal

NASA Astrophysics Data System (ADS)

Karachevtseva, Irina; Baskakova, Marina; Gusakova, Eugenia; Kokhanov, Alexander; Kozlova, Natalia; Matveev, Eugeny; Nadezhdina, Irina; Zubarev, Anatoliy; Oberst, Juergen

2013-04-01

Introduction: The Soviet rover missions Lunokhod-1 and -2 were launched at the beginning of 70th (Luna-17 in October 1971 and Luna-21 in January 1973 respectively). The main goals of the both missions were to study Moon surface in situ. The history of the Lunokhods' missions came back into focus recently, when the Lunar Reconnaissance Orbiter obtained high resolutions images. Sources. For our work we used various data: LROC Narrow Angle Camera (LRO NAC) images, 0.3-1 m/pixel [7, 11]; DEMs with different resolution: LRO NAC DEM, 1-5 m/pixel [9]; Kaguya DEM, 7.5 m/pixel [10]; Lunokhods' stereo panoramas and early cartography information [1, 8]. Methodolody: We collected all data as spatial database (Geodatabase) which includes various derived products. Based on methods developed earlier [4, 6], rovers wheel tracks and craters entire study regions were mapped. High resolution DEMs allow calculate of various morphometric parameters of the Lunokhods' regions which provide better understanding processes on lunar surface [2, 5]. Method of detailed morphology analyses developed for study area now used for investigation of the Luna-Glob and Luna-Resource landing missions which are planned to the south pole of the Moon. Data access: We are developing easy access to the planetary data based on web and spatial technology (Geoportal). Geoportal provides the ability to view spatial data in the web-browser, displays different layers in the same area at different scales turns the web. Lunokhods' data point features were created for each station of rover routes where panoramas were been recorded. So GIS project provide an easy access to non-spatial image database and can involve these information in their spatial context. Conclusions: During Lunokhods' missions early topography data of the traverses were accurate for most areas. Modern estimating these results based on the new LRO data provide comparative studies in lunar geology and morphology. We show that these data can be used for detailed mapping of landing sites for future lunar exploration missions (Luna-Globe and Luna-Recourse). Using PDS4 standard [3] we are developing Geoportal for easy access to the Lunokhods' panoramas and derived products based on results of newest lunar missions. Acknowledgements: We would like to express our acknowledgements to Alexander Basilevsky for valuable advice and support. This work has been partly supported by Seventh Framework Programme (project PRoViDE - Planetary Robotics Vision Data Exploitation, Agreement no. 3123770). References: [1] Barsukov et al. (1978) Peredvijnaya laboratoriya na Lune Lunokhod-1, Vol. 2. Nauka (in Russian). [2] Basilevsky A. et al. (2012). LPS XLIII, Abstract #1481. [3] Crichton D. (2012), Planetary Data Work-shop, USA, Flagstaff. [4] Gusakova E. et al. (2012) LPS XLIII, Abstract #1750. [5] Gusakova E. et al. (2013) LPS XLIV, Abstract #1174. [6] Karachevtseva I. et al. (2012) PSS (submitted in November). [7] Robinson M. S et al., (2010). Space Science Reviews, Volume 150, Issue 1-4, pp. 81-124. [8] Vinogradov et al. (1971) Peredvijnaya laboratoriya na Lune Lunokhod-1, Vol. 1. Nauka (in Russian). [9] Zubarev A. E. et al. (2012) 3M - S3. P173-174. [10] http://l2db.selene.darts.isas.jaxa.jp/cgi-bin/search.cgi [11] http://www.lroc.asu.edu/

The Moon is a Planet Too: Lunar Science and Robotic Exploration

NASA Technical Reports Server (NTRS)

Cohen, Barbara

2008-01-01

The first decades of the 21st century will be marked by major lunar science and exploration activities. The Moon is a witness to 4.5 billion years of solar system history, recording that history more completely and more clearly than any other planetary body. Lunar science encompasses early planetary evolution and differentiation, lava eruptions and fire fountains, impact scars throughout time, and billions of years of volatile input. I will cover the main outstanding issues in lunar science today and the most intriguing scientific opportunities made possible by renewed robotic and human lunar exploration. Barbara is a planetary scientist at NASA s Marshall Space Flight Center. She studies meteorites from the Moon, Mars and asteroids and has been to Antarctica twice to hunt for them. Barbara also works on the Mars Exploration Rovers Spirit and Opportunity and has an asteroid named after her. She is currently helping the Lunar Precursor Robotics Program on the Lunar Mapping and Modeling Project, a project tasked by the Exploration System Mission Directorate (ESMD) to develop maps and tools of the Moon to benefit the Constellation Program lunar planning. She is also supporting the Science Mission Directorate s (SMD) lunar flight projects line at Marshall as the co-chair of the Science Definition Team for NASA s next robotic landers, which will be nodes of the International Lunar Network, providing geophysical information about the Moon s interior structure and composition.

Applying FastSLAM to Articulated Rovers

NASA Astrophysics Data System (ADS)

Hewitt, Robert Alexander

This thesis presents the navigation algorithms designed for use on Kapvik, a 30 kg planetary micro-rover built for the Canadian Space Agency; the simulations used to test the algorithm; and novel techniques for terrain classification using Kapvik's LIDAR (Light Detection And Ranging) sensor. Kapvik implements a six-wheeled, skid-steered, rocker-bogie mobility system. This warrants a more complicated kinematic model for navigation than a typical 4-wheel differential drive system. The design of a 3D navigation algorithm is presented that includes nonlinear Kalman filtering and Simultaneous Localization and Mapping (SLAM). A neural network for terrain classification is used to improve navigation performance. Simulation is used to train the neural network and validate the navigation algorithms. Real world tests of the terrain classification algorithm validate the use of simulation for training and the improvement to SLAM through the reduction of extraneous LIDAR measurements in each scan.

REMS Wind Sensor Preliminary Results

NASA Astrophysics Data System (ADS)

De La Torre Juarez, M.; Gomez-Elvira, J.; Navarro, S.; Marin, M.; Torres, J.; Rafkin, S. C.; Newman, C. E.; Pla-García, J.

2015-12-01

The REMS instrument is part of the Mars Science Laboratory payload. It is a sensor suite distributed over several parts of the rover. The wind sensor, which is composed of two booms equipped with a set of hot plate anemometers, is installed on the Rover Sensing Mast (RSM). During landing most of the hot plates of one boom were damaged, most likely by the pebbles lifted by the Sky Crane thruster. The loss of one wind boom necessitated a full review of the data processing strategy. Different algorithms have been tested on the readings of the first Mars year, and these results are now archived in the Planetary Data System (PDS), The presentation will include a description of the data processing methods and of the resulting products, including the typical evolution of wind speed and direction session-by-session, hour-by-hour and other kinds of statistics . A review of the wind readings over the first Mars year will also be presented.

Mars Atmospheric Escape Recorded by H, C and O Isotope Ratios in Carbon Dioxide and Water Measured by the Sam Tunable Laser Spectrometer on the Curiosity Rover

NASA Technical Reports Server (NTRS)

Webster, C. R.; Mahaffy, P. R.; Leshin, L. A.; Atreya, S. K.; Flesch, G. J.; Stern, J.; Christensen, L. E.; Vasavada, A. R.; Owen, T.; Niles, P. B.;

Churned-Up Rocky Debris and Dust (True Color)

NASA Technical Reports Server (NTRS)

2005-01-01

NASA's Mars Exploration Rover Spirit has been analyzing sulfur-rich rocks and surface materials in the 'Columbia Hills' in Gusev Crater on Mars. This image shows rocky debris and dust, which planetary scientists call 'regolith' or 'soil,' that has been churned up by the rover wheels. This 40-centimeter-wide (16-inch-wide) patch of churned-up dirt, nicknamed 'Paso Robles,' contains brighter patches measured to be high in sulfur by Spirit's alpha particle X-ray Spectrometer. Spirit's panoramic camera took this image on martian day, or sol, 400 (Feb. 16, 2005). The image represents the panoramic camera team's best current attempt at generating a true color view of what this scene would look like if viewed by a human on Mars. The image was generated from a combination of six calibrated, left-eye images acquired through filters ranging from 430-nanometer to 750-nanometer wavelengths.

KSC-2012-3270

NASA Image and Video Library

2012-05-15

CAPE CANAVERAL, Fla. – The prototype rover Artemis Jr. for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project rests atop the prototype lander, prepared for further processing 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 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

KSC-2012-3269

NASA Image and Video Library

2012-05-15

CAPE CANAVERAL, Fla. – The prototype rover Artemis Jr. for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project is unpacked in a test facility behind the Operations and Checkout Building at NASA’s Kennedy Space Center in Florida and in place on top of the prototype 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 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

KSC-2012-3278

NASA Image and Video Library

2012-05-22

CAPE CANAVERAL, Fla. – The prototype rover Artemis Jr. for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project takes a test drive around the field next to 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 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

KSC-2012-3321

NASA Image and Video Library

2012-06-12

CAPE CANAVERAL, Fla. – A demonstration of the prototype rover Artemis Jr. for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project is conducted 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

KSC-2012-3277

NASA Image and Video Library

2012-05-22

CAPE CANAVERAL, Fla. – The prototype rover Artemis Jr. for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project takes a spin around the field next to 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 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

KSC-2012-3274

NASA Image and Video Library

2012-05-15

CAPE CANAVERAL, Fla. – In a test facility behind the Operations and Checkout Building at NASA’s Kennedy Space Center in Florida, the prototype rover Artemis Jr. for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project dismounts from the RESOLVE lander during a dry run using ramps attached to the prototype 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 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

KSC-2012-3320

NASA Image and Video Library

2012-06-12

CAPE CANAVERAL, Fla. – A demonstration of the prototype rover Artemis Jr. for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project is conducted 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

KSC-2012-3315

NASA Image and Video Library

2012-06-12

CAPE CANAVERAL, Fla. – A demonstration of the prototype rover Artemis Jr. for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project is conducted 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

KSC-2012-3322

NASA Image and Video Library

2012-06-12

CAPE CANAVERAL, Fla. – A demonstration of the prototype rover Artemis Jr. for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project is conducted 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

KSC-2012-3279

NASA Image and Video Library

2012-05-22

CAPE CANAVERAL, Fla. – The solar array on the prototype rover Artemis Jr. for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project soaks up the sunlight as it takes a test drive around the field next to 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 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

KSC-2012-3286

NASA Image and Video Library

2012-06-11

CAPE CANAVERAL, Fla. – The NASA payload is installed on the prototype rover Artemis Jr. 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. The cylindrical structure at left is the drill. The drill and rover were provided to NASA by the Canadian Space Agency. The NASA payload 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 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/Cory Huston

KSC-2012-3275

NASA Image and Video Library

2012-05-15

CAPE CANAVERAL, Fla. – In a test facility behind the Operations and Checkout Building at NASA’s Kennedy Space Center in Florida, the prototype rover Artemis Jr. for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project dismounts from the RESOLVE lander during a dry run using ramps attached to the prototype 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 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

KSC-2012-3276

NASA Image and Video Library

2012-05-15

CAPE CANAVERAL, Fla. – In a test facility behind the Operations and Checkout Building at NASA’s Kennedy Space Center in Florida, the prototype rover Artemis Jr. for NASA’s Regolith and Environment Science and Oxygen and Lunar Volatile Extraction, or RESOLVE, project has dismounted the RESOLVE lander during a dry run using the ramps attached to the prototype 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 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

KSC-2012-3288

NASA Image and Video Library

2012-06-11

CAPE CANAVERAL, Fla. – The NASA payload is installed on the prototype rover Artemis Jr. 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. The cylindrical structure at left is the drill. The drill and rover were provided to NASA by the Canadian Space Agency. The NASA payload 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 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/Cory Huston

KSC-2012-3262

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 unpacked 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

Note: Planetary gravities made simple: Sample test of a Mars rover wheel.

PubMed

Viera-López, G; Serrano-Muñoz, A; Amigó-Vega, J; Cruzata, O; Altshuler, E

2017-08-01

We introduce an instrument for a wide spectrum of experiments on gravities other than our planet's. It is based on a large Atwood machine where one of the loads is a bucket equipped with a single board computer and different sensors. The computer is able to detect the falling (or rising) and then the stabilization of the effective gravity and to trigger actuators depending on the experiment. Gravities within the range 0.4 g-1.2 g are easily achieved with acceleration noise of the order of 0.01 g. Under Martian gravity, we are able to perform experiments of approximately 1.5 s duration. The system includes features such as WiFi and a web interface with tools for the setup, monitoring, and data analysis of the experiment. We briefly show a case study in testing the performance of a model Mars rover wheel in low gravities.

Note: Planetary gravities made simple: Sample test of a Mars rover wheel

NASA Astrophysics Data System (ADS)

Viera-López, G.; Serrano-Muñoz, A.; Amigó-Vega, J.; Cruzata, O.; Altshuler, E.

2017-08-01

We introduce an instrument for a wide spectrum of experiments on gravities other than our planet's. It is based on a large Atwood machine where one of the loads is a bucket equipped with a single board computer and different sensors. The computer is able to detect the falling (or rising) and then the stabilization of the effective gravity and to trigger actuators depending on the experiment. Gravities within the range 0.4 g-1.2 g are easily achieved with acceleration noise of the order of 0.01 g. Under Martian gravity, we are able to perform experiments of approximately 1.5 s duration. The system includes features such as WiFi and a web interface with tools for the setup, monitoring, and data analysis of the experiment. We briefly show a case study in testing the performance of a model Mars rover wheel in low gravities.

Remote X-Ray Diffraction and X-Ray Fluorescence Analysis on Planetary Surfaces

NASA Technical Reports Server (NTRS)

Blake, David F.; DeVincenzi, D. (Technical Monitor)

1999-01-01

The legacy of planetary X-ray Diffraction (XRD) and X-ray Fluorescence (XRF) began in 1960 when W. Parish proposed an XRD instrument for deployment on the moon. The instrument was built and flight qualified, but the Lunar XRD program was cancelled shortly before the first human landing in 1969. XRF chemical data have been collected in situ by surface landers on Mars (Viking 1 & 2, Pathfinder) and Venus (Venera 13 & 14). These highly successful experiments provide critical constraints on our current understanding of surface processes and planetary evolution. However, the mineralogy, which is more critical to planetary surface science than simple chemical analysis, will remain unknown or will at best be imprecisely constrained until X-ray diffraction (XRD) data are collected. Recent progress in X-ray detector technology allows the consideration of simultaneous XRD (mineralogic analysis) and high-precision XRF (elemental analysis) in systems miniaturized to the point where they can be mounted on fixed landers or small robotic rovers. There is a variety of potential targets for XRD/XRF equipped landers within the solar system, the most compelling of which are the poles of the moon, the southern highlands of Mars and Europa.

Human-Automation Allocations for Current Robotic Space Operations

NASA Technical Reports Server (NTRS)

Marquez, Jessica J.; Chang, Mai L.; Beard, Bettina L.; Kim, Yun Kyung; Karasinski, John A.

2018-01-01

Within the Human Research Program, one risk delineates the uncertainty surrounding crew working with automation and robotics in spaceflight. The Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is concerned with the detrimental effects on crew performance due to ineffective user interfaces, system designs and/or functional task allocation, potentially compromising mission success and safety. Risk arises because we have limited experience with complex automation and robotics. One key gap within HARI, is the gap related to functional allocation. The gap states: We need to evaluate, develop, and validate methods and guidelines for identifying human-automation/robot task information needs, function allocation, and team composition for future long duration, long distance space missions. Allocations determine the human-system performance as it identifies the functions and performance levels required by the automation/robotic system, and in turn, what work the crew is expected to perform and the necessary human performance requirements. Allocations must take into account each of the human, automation, and robotic systems capabilities and limitations. Some functions may be intuitively assigned to the human versus the robot, but to optimize efficiency and effectiveness, purposeful role assignments will be required. The role of automation and robotics will significantly change in future exploration missions, particularly as crew becomes more autonomous from ground controllers. Thus, we must understand the suitability of existing function allocation methods within NASA as well as the existing allocations established by the few robotic systems that are operational in spaceflight. In order to evaluate future methods of robotic allocations, we must first benchmark the allocations and allocation methods that have been used. We will present 1) documentation of human-automation-robotic allocations in existing, operational spaceflight systems; and 2) To gather existing lessons learned and best practices in these role assignments, from spaceflight operational experience of crew and ground teams that may be used to guide development for future systems. NASA and other space agencies have operational spaceflight experience with two key Human-Automation-Robotic (HAR) systems: heavy lift robotic arms and planetary robotic explorers. Additionally, NASA has invested in high-fidelity rover systems that can carry crew, building beyond Apollo's lunar rover. The heavy lift robotic arms reviewed are: Space Station Remote Manipulator System (SSRMS), Japanese Remote Manipulator System (JEMRMS), and the European Robotic Arm (ERA, designed but not deployed in space). The robotic rover systems reviewed are: Mars Exploration Rovers, Mars Science Laboratory rover, and the high-fidelity K10 rovers. Much of the design and operational feedback for these systems have been communicated to flight controllers and robotic design teams. As part of the mitigating the HARI risk for future human spaceflight operations, we must document function allocations between robots and humans that have worked well in practice.

A conceptual design and operational characteristics for a Mars rover for a 1979 or 1981 Viking science mission

NASA Technical Reports Server (NTRS)

Darnell, W. L.; Wessel, V. W.

1974-01-01

The feasibility of a small Mars rover for use on a 1979 or 1981 Viking mission was studied and a preliminary design concept was developed. Three variations of the concept were developed to provide comparisons in mobility and science capability of the rover. Final masses of the three rover designs were approximately 35 kg, 40 kg, and 69 kg. The smallest rover is umbilically connected to the lander for power and communications purposes whereas the larger two rovers have secondary battery power and a 2-way very high frequency communication link to the lander. The capability for carrying Viking rovers (including development system) to the surface of Mars was considered first. It was found to be feasible to carry rovers of over 100 kg. Virtually all rover systems were then studied briefly to determine a feasible system concept and a practical interface with the comparable system of a 1979 or 1981 lander vehicle.

Mobility analysis, simulation, and scale model testing for the design of wheeled planetary rovers

NASA Technical Reports Server (NTRS)

Lindemann, Randel A.; Eisen, Howard J.

1993-01-01

The use of computer based techniques to model and simulate wheeled rovers on rough natural terrains is considered. Physical models of a prototype vehicle can be used to test the correlation of the simulations in scaled testing. The computer approaches include a quasi-static planar or two dimensional analysis and design tool based on the traction necessary for the vehicle to have imminent mobility. The computer program modeled a six by six wheel drive vehicle of original kinematic configuration, called the Rocker Bogie. The Rocker Bogie was optimized using the quasi-static software with respect to its articulation parameters prior to fabrication of a prototype. In another approach used, the dynamics of the Rocker Bogie vehicle in 3-D space was modeled on an engineering workstation using commercial software. The model included the complex and nonlinear interaction of the tire and terrain. The results of the investigation yielded numerical and graphical results of the rover traversing rough terrain on the earth, moon, and Mars. In addition, animations of the rover excursions were also generated. A prototype vehicle was then used in a series of testbed and field experiments. Correspondence was then established between the computer models and the physical model. The results indicated the utility of the quasi-static tool for configurational design, as well as the predictive ability of the 3-D simulation to model the dynamic behavior of the vehicle over short traverses.

A Risk-Constrained Multi-Stage Decision Making Approach to the Architectural Analysis of Mars Missions

NASA Technical Reports Server (NTRS)

Kuwata, Yoshiaki; Pavone, Marco; Balaram, J. (Bob)

2012-01-01

This paper presents a novel risk-constrained multi-stage decision making approach to the architectural analysis of planetary rover missions. In particular, focusing on a 2018 Mars rover concept, which was considered as part of a potential Mars Sample Return campaign, we model the entry, descent, and landing (EDL) phase and the rover traverse phase as four sequential decision-making stages. The problem is to find a sequence of divert and driving maneuvers so that the rover drive is minimized and the probability of a mission failure (e.g., due to a failed landing) is below a user specified bound. By solving this problem for several different values of the model parameters (e.g., divert authority), this approach enables rigorous, accurate and systematic trade-offs for the EDL system vs. the mobility system, and, more in general, cross-domain trade-offs for the different phases of a space mission. The overall optimization problem can be seen as a chance-constrained dynamic programming problem, with the additional complexity that 1) in some stages the disturbances do not have any probabilistic characterization, and 2) the state space is extremely large (i.e, hundreds of millions of states for trade-offs with high-resolution Martian maps). To this purpose, we solve the problem by performing an unconventional combination of average and minimax cost analysis and by leveraging high efficient computation tools from the image processing community. Preliminary trade-off results are presented.

Rover Panorama Taken Amid Murray Buttes on Mars

NASA Image and Video Library

2016-10-03

Original Caption Released with Image: This 360-degree panorama was acquired by the Mast Camera (Mastcam) on NASA's Curiosity Mars rover while the rover was in an area called "Murray Buttes" on lower Mount Sharp, one of the most scenic landscapes yet visited by any Mars rover. The view stitches together many individual images taken by Mastcam's left-eye camera on Sept. 4, 2016, during the 1,451st Martian day, or sol, of the mission. North is at both ends and south is in the center. The rover's location when it recorded this scene was the site it reached in its Sol 1448 drive. (See map at http://mars.nasa.gov/msl/multimedia/images/?ImageID=8015.) The dark, flat-topped mesa near the center of the scene rises to about 39 feet (about 12 meters) above the surrounding plain. From the rover's position, the top of this mesa is about 131 feet (about 40 meters) away, and the beginning of the debris apron at the base of the mesa is about 98 feet (about 30 meters) away. In the left half of the image, the dark butte that appears largest sits eastward from the rover and about 33 feet (about 10 meters) high. From the rover's position, the top of this butte is about 85 feet (about 26 meters) away, and the beginning of the debris apron at its base is about 33 feet (about 10 meters) away. An upper portion of Mount Sharp appears on the horizon to the right of it. The relatively flat foreground is part of a geological layer called the Murray formation, which includes lakebed mud deposits. The buttes and mesas rising above this surface are eroded remnants of ancient sandstone that originated when winds deposited sand after lower Mount Sharp had formed. They are capped by material that is relatively resistant to erosion, just as is the case with many similarly shaped buttes and mesas on Earth. The area's informal naming honors Bruce Murray (1931-2013), a Caltech planetary scientist and director of NASA's Jet Propulsion Laboratory, Pasadena, California. The scene is presented with a color adjustment that approximates white balancing, to resemble how the rocks and sand would appear under daytime lighting conditions on Earth. http://photojournal.jpl.nasa.gov/catalog/PIA20840

Design and Evolution of a Modular Tensegrity Robot Platform

NASA Technical Reports Server (NTRS)

Bruce, Jonathan; Caluwaerts, Ken; Iscen, Atil; Sabelhaus, Andrew P.; SunSpiral, Vytas

2014-01-01

NASA Ames Research Center is developing a compliant modular tensegrity robotic platform for planetary exploration. In this paper we present the design and evolution of the platform's main hardware component, an untethered, robust tensegrity strut, with rich sensor feedback and cable actuation. Each strut is a complete robot, and multiple struts can be combined together to form a wide range of complex tensegrity robots. Our current goal for the tensegrity robotic platform is the development of SUPERball, a 6-strut icosahedron underactuated tensegrity robot aimed at dynamic locomotion for planetary exploration rovers and landers, but the aim is for the modular strut to enable a wide range of tensegrity morphologies. SUPERball is a second generation prototype, evolving from the tensegrity robot ReCTeR, which is also a modular, lightweight, highly compliant 6-strut tensegrity robot that was used to validate our physics based NASA Tensegrity Robot Toolkit (NTRT) simulator. Many hardware design parameters of the SUPERball were driven by locomotion results obtained in our validated simulator. These evolutionary explorations helped constrain motor torque and speed parameters, along with strut and string stress. As construction of the hardware has finalized, we have also used the same evolutionary framework to evolve controllers that respect the built hardware parameters.

The Potassium-Argon Laser Experiment (karle): In Situ Geochronology for Planetary Missions

NASA Technical Reports Server (NTRS)

Cohen, B. A.

2016-01-01

Isotopic dating is an essential tool to establish an absolute chronology for geological events. It enables a planet's crystallization history, magmatic evolution, and alteration to be placed into the framework of solar system history. The capability for in situ geochronology will open up the ability for this crucial measurement to be accomplished as part of lander or rover complement. An in situ geochronology package can also complement sample return missions by identifying the most interesting rocks to cache or return to Earth. Appropriate application of in situ dating will enable geochronology on more terrains than can be reached with sample-return missions to the Moon, Mars, asteroids, outer planetary satellites, and other bodies that contain rocky components. The capability of flight instruments to conduct in situ geochronology is called out in the NASA Planetary Science Decadal Survey and the NASA Technology Roadmap as needing development to serve the community's needs. Beagle 2 is the only mission launched to date with the explicit aim to perform in situ K-Ar isotopic dating [1], but it failed to communicate and was lost. The first in situ K-Ar date on Mars, using SAM and APXS measurements on the Cumberland mudstone [2], yielded an age of 4.21 +/- 0.35 Ga and validated the idea of K-Ar dating on other planets, though the Curiosity method is not purpose-built for dating and requires many assumptions that degrade its precision. To get more precise and meaningful ages, multiple groups are developing dedicated in situ dating instruments.

Nanotechnology at NASA Ames

NASA Technical Reports Server (NTRS)

Srivastava, Deepak; Meyyappan, Meyya; Yan, Jerry (Technical Monitor)

2000-01-01

Advanced miniaturization, a key thrust area to enable new science and exploration missions, provides ultrasmall sensors, power sources, communication, navigation, and propulsion systems with very low mass, volume, and power consumption. Revolutions in electronics and computing will allow reconfigurable, autonomous, 'thinking' spacecraft. Nanotechnology presents a whole new spectrum of opportunities to build device components and systems for entirely new space architectures: (1) networks of ultrasmall probes on planetary surfaces; (2) micro-rovers that drive, hop, fly, and burrow; and (3) collections of microspacecraft making a variety of measurements.

A task control architecture for autonomous robots

NASA Technical Reports Server (NTRS)

Simmons, Reid; Mitchell, Tom

1990-01-01

An architecture is presented for controlling robots that have multiple tasks, operate in dynamic domains, and require a fair degree of autonomy. The architecture is built on several layers of functionality, including a distributed communication layer, a behavior layer for querying sensors, expanding goals, and executing commands, and a task level for managing the temporal aspects of planning and achieving goals, coordinating tasks, allocating resources, monitoring, and recovering from errors. Application to a legged planetary rover and an indoor mobile manipulator is described.

Parallel Study of HEND, RAD, and DAN Instrument Response to Martian Radiation and Surface Conditions

NASA Technical Reports Server (NTRS)

Martiniez Sierra, Luz Maria; Jun, Insoo; Litvak, Maxim; Sanin, Anton; Mitrofanov, Igor; Zeitlin, Cary

2015-01-01

Nuclear detection methods are being used to understand the radiation environment at Mars. JPL (Jet Propulsion Laboratory) assets on Mars include: Orbiter -2001 Mars Odyssey [High Energy Neutron Detector (HEND)]; Mars Science Laboratory Rover -Curiosity [(Radiation Assessment Detector (RAD); Dynamic Albedo Neutron (DAN))]. Spacecraft have instruments able to detect ionizing and non-ionizing radiation. Instrument response on orbit and on the surface of Mars to space weather and local conditions [is discussed] - Data available at NASA-PDS (Planetary Data System).

Fuzzy Behavior Modulation with Threshold Activation for Autonomous Vehicle Navigation

NASA Technical Reports Server (NTRS)

Tunstel, Edward

2000-01-01

This paper describes fuzzy logic techniques used in a hierarchical behavior-based architecture for robot navigation. An architectural feature for threshold activation of fuzzy-behaviors is emphasized, which is potentially useful for tuning navigation performance in real world applications. The target application is autonomous local navigation of a small planetary rover. Threshold activation of low-level navigation behaviors is the primary focus. A preliminary assessment of its impact on local navigation performance is provided based on computer simulations.

Planetary Data Systems (PDS) Imaging Node Atlas II

NASA Technical Reports Server (NTRS)

Stanboli, Alice; McAuley, James M.

2013-01-01

The Planetary Image Atlas (PIA) is a Rich Internet Application (RIA) that serves planetary imaging data to the science community and the general public. PIA also utilizes the USGS Unified Planetary Coordinate system (UPC) and the on-Mars map server. The Atlas was designed to provide the ability to search and filter through greater than 8 million planetary image files. This software is a three-tier Web application that contains a search engine backend (MySQL, JAVA), Web service interface (SOAP) between server and client, and a GWT Google Maps API client front end. This application allows for the search, retrieval, and download of planetary images and associated meta-data from the following missions: 2001 Mars Odyssey, Cassini, Galileo, LCROSS, Lunar Reconnaissance Orbiter, Mars Exploration Rover, Mars Express, Magellan, Mars Global Surveyor, Mars Pathfinder, Mars Reconnaissance Orbiter, MESSENGER, Phoe nix, Viking Lander, Viking Orbiter, and Voyager. The Atlas utilizes the UPC to translate mission-specific coordinate systems into a unified coordinate system, allowing the end user to query across missions of similar targets. If desired, the end user can also use a mission-specific view of the Atlas. The mission-specific views rely on the same code base. This application is a major improvement over the initial version of the Planetary Image Atlas. It is a multi-mission search engine. This tool includes both basic and advanced search capabilities, providing a product search tool to interrogate the collection of planetary images. This tool lets the end user query information about each image, and ignores the data that the user has no interest in. Users can reduce the number of images to look at by defining an area of interest with latitude and longitude ranges.

Planetary missions as lab experiments in the introductory classroom

NASA Astrophysics Data System (ADS)

Collins, G. C.

2011-12-01

As is the case at many liberal arts colleges, at Wheaton we require all of our students to take a class in the natural sciences. Our introductory classes must include some type of experimental or laboratory component that allows students to directly experience the scientific cycle of asking a question, collecting data, and analyzing the data to either answer the question or to ask new ones. We want them to use their creativity and deal with ambiguity, so they can break out of the idea that science is something that is already written down in a book. This can be a challenge in planetary science, which draws on so many different disciplines and has so many targets of interest that one could spend the entire semester on background material without getting to the experiment cycle. For the past several years, I have been developing a structure for integrating experimentation into the introductory planetary science classroom, alongside some of the more traditional background material. We spend the first half of the semester getting used to asking questions about planets, and then finding and using simple types of data that have already been collected by spacecraft to answer those questions. Along the way, we track a current planetary mission to examine the questions it was designed to investigate, and how its instruments work together to address those questions. By the second half of the semester, the students are ready for two more challenging group projects. In the first project, the class (36 students) is divided in half, and each group must write a plan for the first day of operations of a robotic rover. The opposite group then goes out to an undisclosed field location and collects the data according to the first group's operations plan. After the field trips, the groups receive the data back from their rovers, still without knowing exactly where they landed, and have to hold a press conference discussing the important scientific discoveries at their landing site. Often, they discover that they are missing some crucial piece of data that they had thought to be unimportant. This prepares them to think more seriously about the second project, which is designed around a NASA Discovery mission proposal competition. Based on preliminary proposals for the most important unanswered question in planetary science that could be answered in a single mission, students are divided in teams of three to further develop mission proposals. I have been refining a semi-realistic virtual "kit" of mission components (instruments, power sources, propulsion, etc.) that the students have to put together to answer their science goals. Along the way, they must balance mass, power, data volume, and launch vehicle considerations to build their mission beneath a strict cost cap. By the end of this class experience, students say that they understand at a much deeper level why there are so many questions left to answer in our solar system, and many have tasted the excitement of exploring and answering these questions.

Prototype Lithium-Ion Battery Developed for Mars 2001 Lander

NASA Technical Reports Server (NTRS)

Manzo, Michelle A.

2000-01-01

In fiscal year 1997, NASA, the Jet Propulsion Laboratory, and the U.S. Air Force established a joint program to competitively develop high-power, rechargeable lithium-ion battery technology for aerospace applications. The goal was to address Department of Defense and NASA requirements not met by commercial battery developments. Under this program, contracts have been awarded to Yardney Technical Products, Eagle- Picher Technologies, LLC, BlueStar Advanced Technology Corporation, and SAFT America, Inc., to develop cylindrical and prismatic cell and battery systems for a variety of NASA and U.S. Air Force applications. The battery systems being developed range from low-capacity (7 to 20 A-hr) and low-voltage (14 to 28 V) systems for planetary landers and rovers to systems for aircraft that require up to 270 V and for Unmanned Aerial Vehicles that require capacities up to 200 A-hr. Low-Earth-orbit and geosynchronousorbit spacecraft pose additional challenges to system operation with long cycle life (>30,000 cycles) and long calendar life (>10 years), respectively.

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

NASA Astrophysics Data System (ADS)

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

2017-04-01

A key focus of planetary rover missions is to use panoramic camera systems to image outcrops along rover traverses, in order to characterise their geology in search of ancient life. This data can be processed to create 3D point clouds of rock outcrops to be quantitatively analysed. The Mars Utah Rover Field Investigation (MURFI 2016) is a Mars Rover field analogue mission run by the UK Space Agency (UKSA) in collaboration with the Canadian Space Agency (CSA). It took place between 22nd October and 13th November 2016 and consisted of a science team based in Harwell, UK, and a field team including an instrumented Rover platform at the field site near Hanksville (Utah, USA). The Aberystwyth University PanCam Emulator 3 (AUPE3) camera system was used to collect stereo panoramas of the terrain the rover encountered during the field trials. Stereo-imagery processed in PRoViP is rendered as Ordered Point Clouds (OPCs) in PRo3D, enabling the user to zoom, rotate and translate the 3D outcrop model. Interpretations can be digitised directly onto the 3D surface, and simple measurements can be taken of the dimensions of the outcrop and sedimentary features, including grain size. Dip and strike of bedding planes, stratigraphic and sedimentological boundaries and fractures is calculated within PRo3D from mapped bedding contacts and fracture traces. Merging of rover-derived imagery with UAV and orbital datasets, to build semi-regional multi-resolution 3D models of the area of operations for immersive analysis and contextual understanding. In-simulation, AUPE3 was mounted onto the rover mast, collecting 16 stereo panoramas over 9 'sols'. 5 out-of-simulation datasets were collected in the Hanksville-Burpee Quarry. Stereo panoramas were processed using an automated pipeline and data transfer through an ftp server. PRo3D has been used for visualisation and analysis of this stereo data. Features of interest in the area could be annotated, and their distances between to the rover position can be measured to aid prioritisation of science targeting. Where grains or rocks are present and visible, their dimensions can be measured. Interpretation of the sedimentological features of the outcrops has also been carried out. OPCs created from stereo imagery collected in the Hanskville-Burpee Quarry showed a general coarsening-up succession with a red, well-layered mudstone overlain by stacked layers of irregular thickness and medium-coarse to pebbly sandstone layers. Cross beds/laminations, and lenses of finer sandstone were common. These features provide valuable information on their depositional environment. Development of Pro3D in preparation for application to the ExoMars 2020 and NASA 2020 missions will be centred on validation of the data and measurements. Collection of in-situ field data by a human geologist allows for direct comparison of viewer-derived measurements with those taken in the field. The research leading to these results has received funding from the UK Space Agency Aurora programme and the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement n° 312377 PRoViDE, ESA PRODEX Contracts 4000105568 "ExoMars PanCam 3D Vision" and 4000116566 "Mars 2020 Mastcam-Z 3D Vision".

An intelligent algorithm for autonomous scientific sampling with the VALKYRIE cryobot

NASA Astrophysics Data System (ADS)

Clark, Evan B.; Bramall, Nathan E.; Christner, Brent; Flesher, Chris; Harman, John; Hogan, Bart; Lavender, Heather; Lelievre, Scott; Moor, Joshua; Siegel, Vickie

2018-07-01

The development of algorithms for agile science and autonomous exploration has been pursued in contexts ranging from spacecraft to planetary rovers to unmanned aerial vehicles to autonomous underwater vehicles. In situations where time, mission resources and communications are limited and the future state of the operating environment is unknown, the capability of a vehicle to dynamically respond to changing circumstances without human guidance can substantially improve science return. Such capabilities are difficult to achieve in practice, however, because they require intelligent reasoning to utilize limited resources in an inherently uncertain environment. Here we discuss the development, characterization and field performance of two algorithms for autonomously collecting water samples on VALKYRIE (Very deep Autonomous Laser-powered Kilowatt-class Yo-yoing Robotic Ice Explorer), a glacier-penetrating cryobot deployed to the Matanuska Glacier, Alaska (Mission Control location: 61°42'09.3''N 147°37'23.2''W). We show performance on par with human performance across a wide range of mission morphologies using simulated mission data, and demonstrate the effectiveness of the algorithms at autonomously collecting samples with high relative cell concentration during field operation. The development of such algorithms will help enable autonomous science operations in environments where constant real-time human supervision is impractical, such as penetration of ice sheets on Earth and high-priority planetary science targets like Europa.

The UCL NASA 3D-RPIF Imaging Centre - a status report.

NASA Astrophysics Data System (ADS)

Muller, J.-P.; Grindrod, P.

2013-09-01

The NASA RPIF (Regional Planetary Imaging Facility) network of 9 US and 8 international centres were originally set-up in 1977 to "maintain photographic and digital data as well as mission documentation and cartographic data. Each facility's general holding contains images and maps of planets and their satellites taken by solar system exploration spacecraft. These planetary image facilities are open to the public. The facilities are primarily reference centers for browsing, studying, and selecting lunar and planetary photographic and cartographic materials. Experienced staff can assist scientists, educators, students, media, and the public in ordering materials for their own use." In parallel, the NASA Planetary Data System (PDS) and ESA Planetary Science Archive (PSA) were set-up to distribute digital data initially on media such as CDROM and DVD but now entirely online. The UK NASA RPIF was the first RPIF to be established outside of the US, in 1980. In [1], the 3D-RPIF is described. Some example products derived using this equipment are illustrated here. In parallel, at MSSL a large linux cluster and associated RAID_based system has been created to act as a mirror PDS Imaging node so that huge numbers of rover imagery (from MER & MSL to begin with) and very high resolution (large size) data is available to users of the RPIF and a variety of EU-FP7 projects based at UCL.

Sojourner Sits Near Rock Garden

NASA Technical Reports Server (NTRS)

2003-01-01

The Mars Pathfinder Rover Sojourner is images by the Imager for Mars Pathfinder as it nears the rock 'Wedge.' Part of the Rock Garden is visible in the upper right of the image.

Pathfinder, a low-cost Discovery mission, is the first of a new fleet of spacecraft that are planned to explore Mars over the next ten years. Mars Global Surveyor, already en route, arrives at Mars on September 11 to begin a two year orbital reconnaissance of the planet's composition, topography, and climate. Additional orbiters and landers will follow every 26 months.

The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is an operating division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

Pooh Bear rock and Mermaid Dune

NASA Technical Reports Server (NTRS)

1997-01-01

One of the two forward cameras aboard Sojourner imaged this area of Martian terrain on Sol 26. The large rock dubbed 'Pooh Bear' is at far left, and stands between four and five inches high. Mermaid Dune is the smooth area stretching horizontally across the top quarter of the image. The Alpha Proton X-Ray Spectrometer (APXS) instrument aboard Sojourner will be deployed on Mermaid Dune, and the rover will later use its cleated wheels to dig into it.

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages and Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is an operating division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

Global Exploration Roadmap Derived Concept for Human Exploration of the Moon

NASA Technical Reports Server (NTRS)

Whitley, Ryan; Landgraf, Markus; Sato, Naoki; Picard, Martin; Goodliff, Kandyce; Stephenson, Keith; Narita, Shinichiro; Gonthier, Yves; Cowley, Aiden; Hosseini, Shahrzad;

Improving Lunar Exploration with Robotic Follow-up

NASA Technical Reports Server (NTRS)

Fong, T.; Bualat, M.; Deans, M.; Heggy E.; Helper, M.; Hodges, K.; Lee, P.

2011-01-01

We are investigating how augmenting human field work with subsequent robot activity can improve lunar exploration. Robotic "follow-up" might involve: completing geology observations; making tedious or long-duration measurements of a target site or feature; curating samples in-situ; and performing unskilled, labor-intensive work. To study this technique, we have begun conducting a series of lunar analog field tests at Haughton Crater (Canada). Motivation: In most field geology studies on Earth, explorers often find themselves left with a set of observations they would have liked to make, or samples they would have liked to take, if only they had been able to stay longer in the field. For planetary field geology, we can imagine mobile robots - perhaps teleoperated vehicles previously used for manned exploration or dedicated planetary rovers - being deployed to perform such follow-up activities [1].

A Comparison of Brayton and Stirling Space Nuclear Power Systems for Power Levels from 1 Kilowatt to 10 Megawatts

NASA Technical Reports Server (NTRS)

Mason, Lee S.

2000-01-01

An analytical study was conducted to assess the performance and mass of Brayton and Stirling nuclear power systems for a wide range of future NASA space exploration missions. The power levels and design concepts were based on three different mission classes. Isotope systems, with power levels from 1 to 10 kW, were considered for planetary surface rovers and robotic science. Reactor power systems for planetary surface outposts and bases were evaluated from 10 to 500 kW. Finally, reactor power systems in the range from 100 kW to 10 mW were assessed for advanced propulsion applications. The analysis also examined the effect of advanced component technology on system performance. The advanced technologies included high temperature materials, lightweight radiators, and high voltage power management and distribution.

The future of VIS-IR hyperspectral remote sensing for the exploration of the solar system

NASA Astrophysics Data System (ADS)

Filacchione, Gianrico

2017-06-01

In the last 30 years our understanding of the Solar System has greatly advanced thanks to the introduction of VIS-IR imaging spectrometers which have provided hyperspectral views of planets, satellites, asteroids, comets and rings. By providing moderate resolution images and reflectance spectra for each pixel at the same time, these instruments allow to elaborate spectral-spatial models for very different targets: when used to observe surfaces, hyperspectral methods permit to retrieve endmembers composition (minerals, ices, organics, liquids), mixing state among endmembers (areal, intimate, intraparticle), physical properties (particle size, roughness, temperature) and to correlate these quantities with geological and morphological units. Similarly, morphological, dynamical and compositional studies of gaseous and aerosol species can be retrieved for planetary atmospheres, exospheres and auroras. To achieve these results, very different optical layouts, detectors technologies and observing techniques have been adopted in the last decades, going from very large and complex payloads, like ISM (IR Spectral Mapper) on russian mission Phobos to Mars and NIMS (Near IR Mapping Spectrometer) on US Galileo mission to Jupiter, which were the first hyperspectral imagers to flow aboard planetary missions, to more recent compact and performing experiments. The future of VIS-IR hyperspectral remote sensing is challenging because the complexity of modern planetary missions drives towards the realization of increasingly smaller, lighter and more performing payloads able to survive in harsh radiation and planetary protected environments or to operate from demanding platforms like landers, rovers and cubesats. As a development for future missions, one can foresee that apart instruments designed around well-consolidated optical solutions relying on prisms or gratings as dispersive elements, a new class of innovative hyperspectral imagers will rise: recent developments in Optomechatronics (the fusion of Optical and Mechatronic technologies) including the realization of linear variable filters, acusto-optic and liquid crystals tunable filters, micro-opto-mechanical systems (MOEMS) open the possibility to realize completely new imaging spectrometers designs for planetary exploration. The resulting miniaturization of optical and dispers! ive elements with VIS-IR detectors open pathways towards more integrated and compact instruments. Parallel to those developments it will be necessary to develop also new test and calibration setups to be used to characterize this new instrumentation during AIV-AIT phases.

Miniature GC-Minicell Ion Mobility Spectrometer (IMS) for In Situ Measurements in Astrobiology Planetary Missions

NASA Technical Reports Server (NTRS)

Kojiro, Daniel R.; Stimac, Robert M.; Kaye, William J.; Holland, Paul M.; Takeuchi, Norishige

2006-01-01

Astrobiology flight experiments require highly sensitive instrumentation for in situ analysis of volatile chemical species and minerals present in the atmospheres and surfaces of planets, moons, and asteroids. The complex mixtures encountered place a heavy burden on the analytical instrumentation to detect and identify all species present. The use of land rovers and balloon aero-rovers place additional emphasis on miniaturization of the analytical instrumentation. In addition, smaller instruments, using tiny amounts of consumables, allow the use of more instrumentation and/or ionger mission life for stationary landers/laboratories. The miniCometary Ice and Dust Experiment (miniCIDEX), which combined Gas Chromatography (GC) with helium Ion Mobility Spectrometry (IMS), was capable of providing the wide range of analytical information required for Astrobiology missions. The IMS used here was based on the PCP model 111 IMS. A similar system, the Titan Ice and Dust Experiment (TIDE), was proposed as part of the Titan Orbiter Aerorover Mission (TOAM). Newer GC systems employing Micro Electro- Mechanical System (MEMS) based technology have greatly reduced both the size and resource requirements for space GCs. These smaller GCs, as well as the continuing miniaturization of Astrobiology analytical instruments in general, has highlighted the need for smaller, dry helium IMS systems. We describe here the development of a miniature, MEMS GC-IMS system (MEMS GC developed by Thorleaf Research Inc.), employing the MiniCell Ion Mobility Spectrometer (IMS), from Ion Applications Inc., developed through NASA's Astrobiology Science and Technology Instrument Development (ASTID) Program and NASA s Small Business Innovative Research (SBIR) Program.

Next Generation Simulation Framework for Robotic and Human Space Missions

NASA Technical Reports Server (NTRS)

Cameron, Jonathan M.; Balaram, J.; Jain, Abhinandan; Kuo, Calvin; Lim, Christopher; Myint, Steven

2012-01-01

The Dartslab team at NASA's Jet Propulsion Laboratory (JPL) has a long history of developing physics-based simulations based on the Darts/Dshell simulation framework that have been used to simulate many planetary robotic missions, such as the Cassini spacecraft and the rovers that are currently driving on Mars. Recent collaboration efforts between the Dartslab team at JPL and the Mission Operations Directorate (MOD) at NASA Johnson Space Center (JSC) have led to significant enhancements to the Dartslab DSENDS (Dynamics Simulator for Entry, Descent and Surface landing) software framework. The new version of DSENDS is now being used for new planetary mission simulations at JPL. JSC is using DSENDS as the foundation for a suite of software known as COMPASS (Core Operations, Mission Planning, and Analysis Spacecraft Simulation) that is the basis for their new human space mission simulations and analysis. In this paper, we will describe the collaborative process with the JPL Dartslab and the JSC MOD team that resulted in the redesign and enhancement of the DSENDS software. We will outline the improvements in DSENDS that simplify creation of new high-fidelity robotic/spacecraft simulations. We will illustrate how DSENDS simulations are assembled and show results from several mission simulations.

“Standoff Biofinder” for Fast, Noncontact, Nondestructive, Large-Area Detection of Biological Materials for Planetary Exploration

DOE PAGES

Misra, Anupam K.; Acosta-Maeda, Tayro E.; Sharma, Shiv K.; ...

2016-09-01

In this paper, we developed a prototype instrument called the Standoff Biofinder, which can quickly locate biological material in a 500 cm 2 area from a 2 m standoff distance with a detection time of 0.1 s. All biogenic materials give strong fluorescence signals when excited with UV and visible lasers. In addition, the luminescence decay time of biogenic compounds is much shorter (<100 ns) than the micro- to millisecond decay time of transition metal ions and rare-earth ions in minerals and rocks. The Standoff Biofinder takes advantage of the short lifetime of biofluorescent materials to obtain real-time fluorescence imagesmore » that show the locations of biological materials among luminescent minerals in a geological context. The Standoff Biofinder instrument will be useful for locating biological material during future NASA rover, lander, and crewed missions. Additionally, the instrument can be used for nondestructive detection of biological materials in unique samples, such as those obtained by sample return missions from the outer planets and asteroids. Finally, the Standoff Biofinder also has the capacity to detect microbes and bacteria on space instruments for planetary protection purposes.« less

Mineralogy and Astrobiology Detection Using Laser Remote Sensing Instrument

NASA Technical Reports Server (NTRS)

Abedin, M. Nurul; Bradley, Arthur T.; Sharma, Shiv K.; Misra, Anupam K.; Lucey, Paul G.; Mckay, Chistopher P.; Ismail, Syed; Sandford, Stephen P.

2015-01-01

A multispectral instrument based on Raman, laser-induced fluorescence (LIF), laser-induced breakdown spectroscopy (LIBS), and a lidar system provides high-fidelity scientific investigations, scientific input, and science operation constraints in the context of planetary field campaigns with the Jupiter Europa Robotic Lander and Mars Sample Return mission opportunities. This instrument conducts scientific investigations analogous to investigations anticipated for missions to Mars and Jupiter's icy moons. This combined multispectral instrument is capable of performing Raman and fluorescence spectroscopy out to a >100 m target distance from the rover system and provides single-wavelength atmospheric profiling over long ranges (>20 km). In this article, we will reveal integrated remote Raman, LIF, and lidar technologies for use in robotic and lander-based planetary remote sensing applications. Discussions are focused on recently developed Raman, LIF, and lidar systems in addition to emphasizing surface water ice, surface and subsurface minerals, organics, biogenic, biomarker identification, atmospheric aerosols and clouds distributions, i.e., near-field atmospheric thin layers detection for next robotic-lander based instruments to measure all the above-mentioned parameters. OCIS codes: (120.0280) Remote sensing and sensors; (130.0250) Optoelectronics; (280.3640) Lidar; (300.2530) Fluorescence, laser-induced; (300.6450) Spectroscopy, Raman; (300.6365) Spectroscopy, laser induced breakdown

Autonomous Vision-Based Tethered-Assisted Rover Docking

NASA Technical Reports Server (NTRS)

Tsai, Dorian; Nesnas, Issa A.D.; Zarzhitsky, Dimitri

2013-01-01

Many intriguing science discoveries on planetary surfaces, such as the seasonal flows on crater walls and skylight entrances to lava tubes, are at sites that are currently inaccessible to state-of-the-art rovers. The in situ exploration of such sites is likely to require a tethered platform both for mechanical support and for providing power and communication. Mother/daughter architectures have been investigated where a mother deploys a tethered daughter into extreme terrains. Deploying and retracting a tethered daughter requires undocking and re-docking of the daughter to the mother, with the latter being the challenging part. In this paper, we describe a vision-based tether-assisted algorithm for the autonomous re-docking of a daughter to its mother following an extreme terrain excursion. The algorithm uses fiducials mounted on the mother to improve the reliability and accuracy of estimating the pose of the mother relative to the daughter. The tether that is anchored by the mother helps the docking process and increases the system's tolerance to pose uncertainties by mechanically aligning the mating parts in the final docking phase. A preliminary version of the algorithm was developed and field-tested on the Axel rover in the JPL Mars Yard. The algorithm achieved an 80% success rate in 40 experiments in both firm and loose soils and starting from up to 6 m away at up to 40 deg radial angle and 20 deg relative heading. The algorithm does not rely on an initial estimate of the relative pose. The preliminary results are promising and help retire the risk associated with the autonomous docking process enabling consideration in future martian and lunar missions.

Impact Assessment on Teachers of Student-led, Inquiry-based Planetary Science Instruction in Grades 3-8

NASA Astrophysics Data System (ADS)

Bering, E. A., III; Slagle, E. M.; Carlson, C.; Nieser, K.

2015-12-01

The University of Houston is in the process of developing a flexible program that offers children an in-depth educational experience culminating in the design and construction of their own model Mars rover. The program is called the Mars Rover Model Celebration (MRC). It focuses on students, teachers in grades 3-8. Students design and build a model of a Mars rover to carry out a student selected science mission on Mars. A total of 195 Mars Rover teachers from the 2012-2013, 2013-2014, and 2014-2015 cohorts were invited to complete the Mars Rover Teacher Evaluation Survey. The survey was administered online and could be taken at the convenience of the participant. A total of 1300 students from the 2013-2014 and 2014-2015 cohort wereinvited to submit self-assessments of their participation in the program. Teachers were asked to rate their current level of confidence in their ability to teach specific topics within the Earth and Life Science realms, as well as their confidence in their ability to implement teaching strategies with their students. The majority of teachers (81-90%) felt somewhat to very confident in their ability to effectively teach concepts related to earth and life sciences to their students. In addition, many of the teachers felt that their confidence in teaching these concepts increased somewhat to quite a bit as a result of their participation in the MRC program (54-88%). The most striking increase in this area was the reported 48% of teachers who felt their confidence in teaching "Earth and the solar system and universe" increased "Quite a bit" as a result of their participation in the MRC program. The vast majority of teachers (86-100%) felt somewhat to very confident in their ability to effectively implement all of the listed teaching strategies. The most striking increases were the percentage of teachers who felt their confidence increased "Quite a bit" as a result of their participation in the MRC program in the following areas: "Getting students interested in and curious about science" (63%); "Teaching science as a co-inquirer with students" (56%); and "Continually find better ways to teach science" (59%). A key finding is that 354/365 responding students in the 2014-2015 cohort report substantial increase in science excitement owing to participation in the program.

Assessment of Impact on Students and Teachers of Student-led, inquiry-based planetary science instruction in Grades 3-8

NASA Astrophysics Data System (ADS)

Bering, Edgar Andrew; Carlson, Coleen; Nieser, Kenneth; Slagle, Elana

2015-11-01

The University of Houston is in the process of developing a flexible program that offers children an in-depth educational experience culminating in the design and construction of their own model Mars rover. The program is called the Mars Rover Model Celebration (MRC). It focuses on students, teachers and parents in grades 3-8. Students design and build a model of a Mars rover to carry out a student selected science mission on the surface of Mars. A total of 195 Mars Rover teachers from the 2012-2013, 2013-2014, and 2014-2015 cohorts were invited to complete the Mars Rover Teacher Evaluation Survey. The survey was administered online and could be taken at the convenience of the participant. So far ~90 teachers have participated with responses still coming in. A total of 1300 students from the 2013-2014 and 2014-2015 cohort were invited to submit brief self-assessments of their participation in the program. Teachers were asked to rate their current level of confidence in their ability to teach specific topics within the Earth and Life Science realms, as well as their confidence in their ability to implement teaching strategies with their students. The most striking increase in this area was the reported 48% of teachers who felt their confidence in teaching “Earth and the solar system and universe” increased “Quite a bit” as a result of their participation in the MRC program. The vast majority of teachers (86-100%) felt somewhat to very confident in their ability to effectively implement all of the listed teaching strategies. The most striking increases were the percentage of teachers who felt their confidence increased “Quite a bit” as a result of their participation in the MRC program in the following areas: “Getting students interested in and curious about science” (63%); “Teaching science as a co-inquirer with students” (56%); and “Continually find better ways to teach science” (59%). Student outcome analysis is pending correlation with final progress reports for the participating students. A key finding is that 354/365 responding students in the 2014-2015 cohort report substantial increase in science excitement owing to participation in the program.

Planetary cubesats - mission architectures

NASA Astrophysics Data System (ADS)

Bousquet, Pierre W.; Ulamec, Stephan; Jaumann, Ralf; Vane, Gregg; Baker, John; Clark, Pamela; Komarek, Tomas; Lebreton, Jean-Pierre; Yano, Hajime

2016-07-01

Miniaturisation of technologies over the last decade has made cubesats a valid solution for deep space missions. For example, a spectacular set 13 cubesats will be delivered in 2018 to a high lunar orbit within the frame of SLS' first flight, referred to as Exploration Mission-1 (EM-1). Each of them will perform autonomously valuable scientific or technological investigations. Other situations are encountered, such as the auxiliary landers / rovers and autonomous camera that will be carried in 2018 to asteroid 1993 JU3 by JAXA's Hayabusas 2 probe, and will provide complementary scientific return to their mothership. In this case, cubesats depend on a larger spacecraft for deployment and other resources, such as telecommunication relay or propulsion. For both situations, we will describe in this paper how cubesats can be used as remote observatories (such as NEO detection missions), as technology demonstrators, and how they can perform or contribute to all steps in the Deep Space exploration sequence: Measurements during Deep Space cruise, Body Fly-bies, Body Orbiters, Atmospheric probes (Jupiter probe, Venus atmospheric probes, ..), Static Landers, Mobile landers (such as balloons, wheeled rovers, small body rovers, drones, penetrators, floating devices, …), Sample Return. We will elaborate on mission architectures for the most promising concepts where cubesat size devices offer an advantage in terms of affordability, feasibility, and increase of scientific return.

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.

NASA Lunar and Planetary Mapping and Modeling

NASA Astrophysics Data System (ADS)

Day, Brian; Law, Emily

2016-10-01

NASA's Lunar and Planetary Mapping and Modeling Portals provide web-based suites of interactive visualization and analysis tools to enable mission planners, planetary scientists, students, and the general public to access mapped lunar data products from past and current missions for the Moon, Mars, and Vesta. New portals for additional planetary bodies are being planned. This presentation will recap some of the enhancements to these products during the past year and preview work currently being undertaken.New data products added to the Lunar Mapping and Modeling Portal (LMMP) include both generalized products as well as polar data products specifically targeting potential sites for the Resource Prospector mission. New tools being developed include traverse planning and surface potential analysis. Current development work on LMMP also includes facilitating mission planning and data management for lunar CubeSat missions. Looking ahead, LMMP is working with the NASA Astromaterials Office to integrate with their Lunar Apollo Sample database to help better visualize the geographic contexts of retrieved samples. All of this will be done within the framework of a new user interface which, among other improvements, will provide significantly enhanced 3D visualizations and navigation.Mars Trek, the project's Mars portal, has now been assigned by NASA's Planetary Science Division to support site selection and analysis for the Mars 2020 Rover mission as well as for the Mars Human Landing Exploration Zone Sites, and is being enhanced with data products and analysis tools specifically requested by the proposing teams for the various sites. NASA Headquarters is giving high priority to Mars Trek's use as a means to directly involve the public in these upcoming missions, letting them explore the areas the agency is focusing upon, understand what makes these sites so fascinating, follow the selection process, and get caught up in the excitement of exploring Mars.The portals also serve as outstanding resources for education and outreach. As such, they have been designated by NASA's Science Mission Directorate as key supporting infrastructure for the new education programs selected through the division's recent CAN.

Prospecting for Diverse Igneous Rock Types on Mars: Pixl on "black Beauty" Nwa 7533

NASA Astrophysics Data System (ADS)

Liu, Y.; Flannery, D.; Allwood, A.; Thompson, D. R.; Hodyss, R. P.; Clark, B. C.; Elam, W. T.; Hurowitz, J.

2015-12-01

In order to understand the evolution of the Martian crust and mantle, we need to acquire and analyze samples of igneous rocks other than the basaltic and ultramafic lithologies represented by the majority of Martian meteorites. Recent results from the Curiosity Rover demonstrate that diverse rock types exist in some Martian sedimentary environments in the form of conglomerate components or float, some of which shed light on the nature of early Martian crust (e.g., Sautter et al., 2015). We are developing investigation strategies for the in-situ instruments that will be flown on the Mars 2020 rover. These instruments will be used to inform the sampling campaigns required for future sample return missions. To achieve this, we applied PIXL (Planetary Instrument for X-ray Lithochemistry), an instrument for the Mars 2020 rover mission, to the meteorite NWA 7533. This meteorite is a pairing of NWA 7034, known informally as "Black Beauty", a new type of Martian meteorite that is broadly similar to the average composition of the Martian crust. This type of meteorite is essentially a 'conglomerate', with many diverse rock types, including mafic, feldspathic, and exotic rock fragments such as feldspar-ilmenite-phosphate clasts, as observed using higher-spatial resolution and higher sensitivity laboratory instruments (e.g., Agee et al., 2013; Humayun et al., 2014; Santos et al., 2015). Using PIXL, we analyzed a mm-scale cut and polished surface and applied algorithms developed by the PIXL team to semi-autonomously define and group regions containing similar lithological components (Thompson et al., 2015). PIXL data rapidly reveal distinctive zircon-bearing lithologies and feldspar-ilmenite-phosphate clasts similar to the detailed petrographic and mineralogical observations. Results suggest that PIXL readily identifies lithologies with minerals and elements (e.g., Rb and Sr) that are important for geochronology studies.

Development and Demonstration of a Self-Calibrating Pseudolite Array for Task Level Control of a Planetary Rover

NASA Technical Reports Server (NTRS)

Rock, Stephen M.; LeMaster, Edward A.

2001-01-01

Pseudolites can extend the availability of GPS-type positioning systems to a wide range of applications not possible with satellite-only GPS. One such application is Mars exploration, where the centimeter-level accuracy and high repeatability of CDGPS would make it attractive for rover positioning during autonomous exploration, sample collection, and habitat construction if it were available. Pseudolites distributed on the surface would allow multiple rovers and/or astronauts to share a common navigational reference. This would help enable cooperation for complicated science tasks, reducing the need for instructions from Earth and increasing the likelihood of mission success. Conventional GPS Pseudolite arrays require that the devices be pre-calibrated through a Survey of their locations, typically to sub-centimeter accuracy. This is a problematic task for robots on the surface of another planet. By using the GPS signals that the Pseudolites broadcast, however, it is possible to have the array self-survey its own relative locations, creating a SelfCalibrating Pseudolite Array (SCPA). This requires the use of GPS transceivers instead of standard pseudolites. Surveying can be done either at carrier- or code-phase levels. An overview of SCPA capabilities, system requirements, and self-calibration algorithms is presented in another work. The Aerospace Robotics Laboratory at Statif0id has developed a fully operational prototype SCPA. The array is able to determine the range between any two transceivers with either code- or carrier-phase accuracy, and uses this inter-transceiver ranging to determine the at-ray geometry. This paper presents results from field tests conducted at Stanford University demonstrating the accuracy of inter-transceiver ranging and its viability and utility for array localization, and shows how transceiver motion may be utilized to refine the array estimate by accurately determining carrier-phase integers and line biases. It also summarizes the overall system requirements and architecture, and describes the hardware and software used in the prototype system.

"Where On Mars?": An Open Planetary Mapping Platform for Researchers, Educators, and the General Public

NASA Astrophysics Data System (ADS)

Manaud, Nicolas; Carter, John; Boix, Oriol

2016-10-01

The "Where On Mars?" project is essentially the evolution of an existing outreach product developed in collaboration between ESA and CartoDB; an interactive map visualisation of the ESA's ExoMars Rover candidate landing sites (whereonmars.co). Planetary imagery data and maps are increasingly produced by the scientific community, and shared typically as images, in scientific publications, presentations or public outreach websites. However, this media lacks of interactivity and contextual information available for further exploration, making it difficult for any audience to relate one location-based information to another. We believe that interactive web maps are a powerful way of telling stories, engaging with and educating people who, over the last decade, have become familiar with tools such as Google Maps. A few planetary web maps exist but they are either too complex for non-experts, or are closed-systems that do not allows anyone to publish and share content. The long-term vision for the project is to provide researchers, communicators, educators and a worldwide public with an open planetary mapping and social platform enabling them to create, share, communicate and consume research-based content. We aim for this platform to become the reference website everyone will go to learn about Mars and other planets in our Solar System; just like people head to Google Maps to find their bearings or any location-based information. The driver is clearly to create for people an emotional connection with Mars. The short-term objectives for the project are (1) to produce and curate an open repository of basemaps, geospatial data sets, map visualisations, and story maps; (2) to develop a beautifully crafted and engaging interactive map of Mars. Based on user-generated content, the underlying framework should (3) make it easy to create and share additional interactive maps telling specific stories.

The effect of different operations modes on science capabilities during the 2010 Desert RATS test: Insights from the geologist crewmembers

NASA Astrophysics Data System (ADS)

Bleacher, Jacob E.; Hurtado, José M.; Young, Kelsey E.; Rice, James W.; Garry, W. Brent

2013-10-01

The 2010 Desert RATS field test utilized two Space Exploration Vehicles (prototype planetary rovers) and four crewmembers (2 per rover) to conduct a geologic traverse across northern Arizona while testing continuous and twice-per-day communications paired with operation modes of separating and exploring individually (Divide & Conquer) and exploring together (Lead & Follow), respectively. This report provides qualitative conclusions from the geologist crewmembers involved in this test as to how these modes of communications and operations affected our ability to conduct field geology. Each mode of communication and operation provided beneficial capabilities that might be further explored for future Human Spaceflight Missions to other solar system objects. We find that more frequent interactions between crews and an Apollo-style Science Team on the Earth best enables scientific progress during human exploration. However, during multiple vehicle missions, this communication with an Earth-based team of scientists, who represent "more minds on the problem", should not come at the exclusion of (or significantly decrease) communication between the crewmembers in different vehicles who have the "eyes on the ground". Inter-crew communications improved when discussions with a backroom were infrequent. Both aspects are critical and cannot be mutually exclusive. Increased vehicle separation distances best enable encounters with multiple geologic units. However, seemingly redundant visits by multiple vehicles to the same feature can be utilized to provide improved process-related observations about the development and modification of the local terrain. We consider the value of data management, transfer, and accessibility to be the most important lesson learned. Crews and backrooms should have access to all data and related interpretations within the mission in as close to real-time conditions as possible. This ensures that while on another planetary surface, crewmembers are as educated as possible with respect to the observations and data they will need to collect at any moment.

The Effect of Different Operations Modes on Science Capabilities During the 2010 Desert-RATS Test: Insights from the Geologist Crewmembers

NASA Technical Reports Server (NTRS)

Bleacher, Jacob E.; Hurtado, Jose M., Jr.; Young, Kelsey E.; Rice, James W., Jr.; Garry, W. Brent

2011-01-01

The 2010 Desert RATS field test utilized two Space Exploration Vehicles (prototype planetary rovers) and four crewmembers (2 per rover) to conduct a geologic traverse across northern Arizona while testing continuous and twice-per-day communications paired with operation modes of separating and exploring individually (Divide & Conquer) and exploring together (Lead & Follow), respectively. This report provides qualitative conclusions from the geologist crewmembers involved in this test as to how these modes of communications and operations affected our ability to conduct field geology. Each mode of communication and operation provided beneficial capabilities that might be further explored for future Human Spaceflight Missions to other solar system objects. We find that more frequent interactions between crews and an Apollo-style Science Team on the Earth best enables scientific progress during human exploration. However, during multiple vehicle missions, this communication with an Earth-based team of scientists, who represent "more minds on the problem", should not come at the exclusion of (or significantly decrease) communication between the crewmembers in different vehicles who have the "eyes on the ground". Inter-crew communications improved when discussions with a backroom were infrequent. Both aspects are critical and cannot be mutually exclusive. Increased vehicle separation distances best enable encounters with multiple geologic units. However, seemingly redundant visits by multiple vehicles to the same feature can be utilized to provide improved process-related observations about the development and modification of the local terrain. We consider the value of data management, transfer, and accessibility to be the most important lesson learned. Crews and backrooms should have access to all data and related interpretations within the mission in as close to real-time conditions as possible. This ensures that while on another planetary surface, crewmembers are as educated as possible with respect to the observations and data they will need to collect at any moment.

NASA Lunar and Planetary Mapping and Modeling

NASA Astrophysics Data System (ADS)

Day, B. H.; Law, E.

2016-12-01

NASA's Lunar and Planetary Mapping and Modeling Portals provide web-based suites of interactive visualization and analysis tools to enable mission planners, planetary scientists, students, and the general public to access mapped lunar data products from past and current missions for the Moon, Mars, and Vesta. New portals for additional planetary bodies are being planned. This presentation will recap significant enhancements to these toolsets during the past year and look forward to the results of the exciting work currently being undertaken. Additional data products and tools continue to be added to the Lunar Mapping and Modeling Portal (LMMP). These include both generalized products as well as polar data products specifically targeting potential sites for the Resource Prospector mission. Current development work on LMMP also includes facilitating mission planning and data management for lunar CubeSat missions, and working with the NASA Astromaterials Acquisition and Curation Office's Lunar Apollo Sample database in order to help better visualize the geographic contexts from which samples were retrieved. A new user interface provides, among other improvements, significantly enhanced 3D visualizations and navigation. Mars Trek, the project's Mars portal, has now been assigned by NASA's Planetary Science Division to support site selection and analysis for the Mars 2020 Rover mission as well as for the Mars Human Landing Exploration Zone Sites. This effort is concentrating on enhancing Mars Trek with data products and analysis tools specifically requested by the proposing teams for the various sites. Also being given very high priority by NASA Headquarters is Mars Trek's use as a means to directly involve the public in these upcoming missions, letting them explore the areas the agency is focusing upon, understand what makes these sites so fascinating, follow the selection process, and get caught up in the excitement of exploring Mars. The portals also serve as outstanding resources for education and outreach. As such, they have been designated by NASA's Science Mission Directorate as key supporting infrastructure for the new education programs selected through the division's recent CAN.

Rover deployment system for lunar landing mission

NASA Astrophysics Data System (ADS)

Sutoh, Masataku; Hoshino, Takeshi; Wakabayashi, Sachiko

2017-09-01

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

Destination: Gusev

NASA Technical Reports Server (NTRS)

2003-01-01

[figure removed for brevity, see original site]

Released 11 June 2003

Yesterday, a Delta II rocket successfully lifted off from Cape Canaveral, Florida carrying the Mars Exploration Rover named Spirit. Its destination is a crater called Gusev in the southern hemisphere of Mars. This crater may have been the site of an ancient lake whose sediments could be sampled by Spirit. The THEMIS image covers a portion of the center of the elliptical region in which the rover is expected to land nearly seven months from now. The scene contains wispy dark streaks that probably arise from the removal by wind of a layer of bright dust. Just to the south of the dark streaks is a boundary that may represent the edge of a layer of material that has flowed in from the south. With luck, Spirit will have access to a variety of interesting rock types and terrains that will settle the question of whether Gusev crater hosted a lake.

Image information: VIS instrument. Latitude -14.7, Longitude 175.5 East (184.5 West). 19 meter/pixel resolution.

Note: this THEMIS visual image has not been radiometrically nor geometrically calibrated for this preliminary release. An empirical correction has been performed to remove instrumental effects. A linear shift has been applied in the cross-track and down-track direction to approximate spacecraft and planetary motion. Fully calibrated and geometrically projected images will be released through the Planetary Data System in accordance with Project policies at a later time.

NASA's Jet Propulsion Laboratory manages the 2001 Mars Odyssey mission for NASA's Office of Space Science, Washington, D.C. The Thermal Emission Imaging System (THEMIS) was developed by Arizona State University, Tempe, in collaboration with Raytheon Santa Barbara Remote Sensing. The THEMIS investigation is led by Dr. Philip Christensen at Arizona State University. Lockheed Martin Astronautics, Denver, is the prime contractor for the Odyssey project, and developed and built the orbiter. Mission operations are conducted jointly from Lockheed Martin and from JPL, a division of the California Institute of Technology in Pasadena.

Project for the Space Science in Moscow State University of Geodesy and Cartography (MIIGAiK)

NASA Astrophysics Data System (ADS)

Semenov, M.; Oberst, J.; Malinnikov, V.; Shingareva, K.; Grechishchev, A.; Karachevtseva, I.; Konopikhin, A.

2012-04-01

Introduction: Based on the proposal call of the Government of Russian Federation 40 of international scientists came to Russia for developing and support-ing research capabilities of national educational institutions. Moscow State University of Geodesy and Cartography (MIIGAiK) and invited scientist Prof. Dr. Jurgen Oberst were awarded a grant to establish a capable research facility concerned with Planetary Geodesy, Cartography and Space Exploration. Objectives: The goals of the project are to build laboratory infrastructure, and suitable capability for MIIGAiK to participate in the planning, execution and analyses of data from future Russian planetary mis-sions and also to integrate into the international science community. Other important tasks are to develop an attractive work place and job opportunities for planetary geodesy and cartography students. For this purposes new MIIGAiK Extraterrestrial Laboratory (MExLab) was organized. We involved professors, researchers, PhD students in to the projects of Moon and planets exploration at the new level of Russian Space Science development. Main results: MExLab team prepare data for upcom-ing Russian space missions, such as LUNA-GLOB and LUNA-RESOURSE. We established cooperation with Russian and international partners (IKI, ESA, DLR, and foreign Universities) and actively participated in international conferences and workshops. Future works: For the future science development we investigated the old Soviet Archives and received the access to the telemetry data of the Moon rovers Lunokhod-1 and Lunokhod-2. That data will be used in education purposes and could be the perfect base for the analysis, development and support in new Russian and international missions and especially Moon exploration projects. MExLab is open to cooperate and make the consortiums for science projects for the Moon and planets exploration. Acknowledgement: Works are funded by the Rus-sian Government (Project name: "Geodesy, cartography and the study of planets and satellites", contract No. 11.G34.31.0021 dd. 30.11.10)

False Color Processing to Enhance Differences Around Yogi

NASA Technical Reports Server (NTRS)

1997-01-01

In this scene showing the rover deployed at rock Yogi, the colors have similarly been enhanced to bring out differences. The same three kinds of rocks are recognized as in the distance. Yogi (red arrow), one of the large rocks with a weathered coating, exhibits a fresh face to the northeast, resulting perhaps from eolian scouring or from fracturing off of pieces to expose a fresher surface. Barnacle Bill and Cradle (blue arrows) are typical of the unweathered smaller rocks. During its traverse to Yogi the rover stirred the soil and exposed material from several cm in depth. During one of the turns to deploy Sojourner's Alpha Proton X-Ray Spectrometer (inset and white arrow), the wheels dug particularly deeply and exposed white material. Spectra of this white material show it is virtually identical to Scooby Doo, and such white material may underlie much of the site. The lander's rear ramp, which Sojourner used to descend to the Martian surface, is at lower left.

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and managed the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator. JPL is an operating division of the California Institute of Technology (Caltech).

Measurement of Mars Analog Soil Dielectric Properties for Mars 2020 Radar Science Applications

NASA Astrophysics Data System (ADS)

Decrossas, E.; Bell, D. J.; Jin, C.; Steinfeld, D.; Batres, J.

2017-12-01

On multiple solar system missions, radar instruments have been used to probe subsurface geomorphology and to infer chemical composition based on the dielectric signature derived from the reflected signal. One important planetary application is the identification of subsurface water ice at Mars. Low frequency, 15 MHz to 25 MHz, instruments like SHARAD have been used from Mars orbit to investigate subsurface features from 10's to 1000's of meters below the surface of Mars with a vertical resolution of 15m and a horizontal resolution of 300 to 3000 meters. SHARAD has been able to identify vast layers of CO2 and water ice. The ground-penetrating RIMFAX instrument that will ride on the back of the Mars 2020 rover will operate over the 150 MHz to 1200 MHz band and penetrate to a depth of 10 meters with a vertical resolution of 15 to 30 cm. RIMFAX will be able to identify near surface water ice if it exists below the travel path of the Mars 2020 rover. Identification of near surface water ice has science application to current and past Mars hydrologic processes and to the potential for finding remnants of past Mars biologic activity. Identification of near surface water ice also has application to future human missions that would benefit from access to a Mars local water source. Recently, JPL investigators have been pursuing a secondary use of telecom signals to capture bistatic radar signatures from subsurface areas surrounding the rover but away from its travel path. A particularly promising potential source would be the telecom signal from a proposed Mars Helicopter back to the Mars 2020 rover. The Mars 2020 rover will be equipped with up to three telecom subsystems. The Rover Relay telecom subsystem operates at UHF receiving at 435 MHz frequency. Anticipating opportunistic collection of near-surface bistatic radar signatures from telecom signals received at the rover, it is valuable to understand the dielectric properties of the Martian soil in each of these three possible frequency bands. In their 2004 paper, Williams and Greely reported on measurements of the dielectric and attenuation properties of Mars soil analogs made in the band of 200 MHz to 1300 MHz. Their results apply directly to the Mars rover telecom links at 435 MHz and 915 MHz. This paper reports on dielectric measurements made on the same Mars soil analogs over the band of 7 GHz to 40 GHz.

The Extended Mission Rover (EMR)

NASA Technical Reports Server (NTRS)

Shields, W.; Halecki, Anthony; Chung, Manh; Clarke, Ken; Frankle, Kevin; Kassemkhani, Fariba; Kuhlhoff, John; Lenzini, Josh; Lobdell, David; Morgan, Sam

1992-01-01

A key component in ensuring America's status as a leader in the global community is its active pursuit of space exploration. On the twentieth anniversary of Apollo 11, President George Bush challenged the nation to place a man on the moon permanently and to conduct human exploration of Mars in the 21st century. The students of the FAMU/FSU College of Engineering hope to make a significant contribution to this challenge, America's Space Exploration Initiative (SEI), with their participation in the NASA/USRA Advanced Design Program. The project selected by the 1991/1992 Aerospace Design group is the design of an Extended Mission Rover (EMR) for use on the lunar surface. This vehicle will serve as a mobile base to provide future astronauts with a 'shirt-sleeve' living and working environment. Some of the proposed missions are planetary surface exploration, construction and maintenance, hardware setup, and in situ resource experimentation. This vehicle will be put into use in the 2010-2030 time frame.

KSC-2012-3287

NASA Image and Video Library

2012-06-11

CAPE CANAVERAL, Fla. – The NASA payload is installed on the prototype rover Artemis Jr. 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. The cylindrical structure at right is the drill the tabletop surface at left is the rover’s solar array. The drill and rover were provided to NASA by the Canadian Space Agency. The NASA payload 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 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/Cory Huston

KSC-2012-3285

NASA Image and Video Library

2012-06-11

CAPE CANAVERAL, Fla. – The NASA payload is installed on the prototype rover Artemis Jr. 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. The cylindrical structure at left is the drill the tabletop surface at right is the rover’s solar array. The drill and rover were provided to NASA by the Canadian Space Agency. The NASA payload 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 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/Cory Huston

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

Contingency Planning for Planetary Rovers

NASA Technical Reports Server (NTRS)

Dearden, Richard; Meuleau, Nicolas; Ramakrishnan, Sailesh; Smith, David; Washington, Rich; Clancy, Daniel (Technical Monitor)

2002-01-01

There has been considerable work in AI on planning under uncertainty. But this work generally assumes an extremely simple model of action that does not consider continuous time and resources. These assumptions are not reasonable for a Mars rover, which must cope with uncertainty about the duration of tasks, the power required, the data storage necessary, along with its position and orientation. In this paper, we outline an approach to generating contingency plans when the sources of uncertainty involve continuous quantities such as time and resources. The approach involves first constructing a "seed" plan, and then incrementally adding contingent branches to this plan in order to improve utility. The challenge is to figure out the best places to insert contingency branches. This requires an estimate of how much utility could be gained by building a contingent branch at any given place in the seed plan. Computing this utility exactly is intractable, but we outline an approximation method that back propagates utility distributions through a graph structure similar to that of a plan graph.

Miniaturized Laser-Induced Breakdown Spectroscopy for the in-situ analysis of the Martian surface: Calibration and quantification

NASA Astrophysics Data System (ADS)

Rauschenbach, I.; Jessberger, E. K.; Pavlov, S. G.; Hübers, H.-W.

2010-08-01

We report on our ongoing studies to develop Laser-Induced Breakdown Spectroscopy (LIBS) for planetary surface missions to Mars and other planets and moons, like Jupiter's moon Europa or the Earth's moon. Since instruments for space missions are severely mass restricted, we are developing a light-weight miniaturized close-up LIBS instrument to be installed on a lander or rover for the in-situ geochemical analysis of planetary surface rocks and coarse fines. The total mass of the instrument will be ≈ 1 kg in flight configuration. Here we report on a systematic performance study of a LIBS instrument equipped with a prototype laser of 216 g total mass and an energy of 1.8 mJ. The LIBS measurements with the prototype laser and the comparative measurements with a regular 40 mJ laboratory laser were both performed under Martian atmospheric conditions. We calibrated 14 major and minor elements by analyzing 18 natural samples of certified composition. The calibration curves define the limits of detection that are > 5 ppm for the lab laser and > 400 ppm for the prototype laser, reflecting the different analyzed sample masses of ≈ 20 µg and ≈ 2 µg, respectively. To test the accuracy we compared the LIBS compositions, determined with both lasers, of Mars analogue rocks with certified or independently measured compositions and found agreements typically within 10-20%. In addition we verified that dust coverage is effectively removed from rock surfaces by the laser blast. Our study clearly demonstrates that a close-up LIBS instrument (spot size ≈ 50 µm) will decisively enhance the scientific output of planetary lander missions by providing a very large number of microscopic elemental analyses.

Concurrent planning and execution for a walking robot

NASA Astrophysics Data System (ADS)

Simmons, Reid

1990-07-01

The Planetary Rover project is developing the Ambler, a novel legged robot, and an autonomous software system for walking the Ambler over rough terrain. As part of the project, we have developed a system that integrates perception, planning, and real-time control to navigate a single leg of the robot through complex obstacle courses. The system is integrated using the Task Control Architecture (TCA), a general-purpose set of utilities for building and controlling distributed mobile robot systems. The walking system, as originally implemented, utilized a sequential sense-plan-act control cycle. This report describes efforts to improve the performance of the system by concurrently planning and executing steps. Concurrency was achieved by modifying the existing sequential system to utilize TCA features such as resource management, monitors, temporal constraints, and hierarchical task trees. Performance was increased in excess of 30 percent with only a relatively modest effort to convert and test the system. The results lend support to the utility of using TCA to develop complex mobile robot systems.

JPL VLBI Analysis Center Report for 2012

NASA Technical Reports Server (NTRS)

Jacobs, Chris

2013-01-01

This report describes the activities of the JPL VLBI Analysis Center for the year 2012. The highlight of the year was the successful MSL rover Mars landing, which was supported by VLBI-based navigation using our combined spacecraft, celestial reference frame, terrestrial reference frame, earth orientation, and planetary ephemeris VLBI systems. We also supported several other missions with VLBI navigation measurements. A combined NASA-ESA network was demonstrated with first Ka-band fringes to ESA's Malargue, Argentina 35 m. We achieved first fringes with our new digital back end and Mark 5C recorders.

Moessbauer/XRF MIMOS Instrumentation and Operation During the 2012 Analog Field Test on Mauna Kea Volcano, Hawaii

NASA Technical Reports Server (NTRS)

Graff, Trevor G.; Morris, R. V.; Klingelhofer, G.; Blumers, M.

2013-01-01

Field testing and scientific investigations were conducted on the Mauna Kea Volcano, Hawaii, as part of the 2012 Moon and Mars Analog Mission Activities (MMAMA). Measurements were conducted using both stand-alone and rover-mounted instruments to determine the geophysical and geochemical properties of the field site, as well as provide operational constraints and science considerations for future robotic and human missions [1]. Reported here are the results from the two MIMOS instruments deployed as part of this planetary analog field test.

SSTAC/ARTS review of the draft Integrated Technology Plan (ITP). Volume 8: Aerothermodynamics Automation and Robotics (A/R) systems sensors, high-temperature superconductivity

NASA Technical Reports Server (NTRS)

1991-01-01

Viewgraphs of briefings presented at the SSTAC/ARTS review of the draft Integrated Technology Plan (ITP) on aerothermodynamics, automation and robotics systems, sensors, and high-temperature superconductivity are included. Topics covered include: aerothermodynamics; aerobraking; aeroassist flight experiment; entry technology for probes and penetrators; automation and robotics; artificial intelligence; NASA telerobotics program; planetary rover program; science sensor technology; direct detector; submillimeter sensors; laser sensors; passive microwave sensing; active microwave sensing; sensor electronics; sensor optics; coolers and cryogenics; and high temperature superconductivity.