Feasibility of Suited 10-km Ambulation "Walkback" on the Moon

NASA Technical Reports Server (NTRS)

Norcross, Jason; Lee, Lesley; DeWitt, John K.; Klein, Jill; Wessell, James; Gernhardt, Michael L.

2008-01-01

This viewgraph presentation reviews a study that examined the feasibility of having astronauts walk about 10 kilometers to the base in the event of a breakdown of the lunar rover. This was done in part to examine the possibility of having a single rover on the lunar exploration missions. Other objectives of the study are to: (1) Understand specific biomedical and human performance limitations of the suit compared to matched shirt-sleeve controls; (2) Collect metabolic and ground-reaction force data to develop an EVA simulator for use on future prebr eathe protocol verification tests (3) Provide data to estimate consum ables usage for input to suit and portable life support system (PLSS) design (4) Assess the cardiovascular and resistance exercise associa ted with partialgravity EVA for planning appropriate exploration exer cise countermeasures

Mars Science Laboratory Propulsive Maneuver Design and Execution

NASA Technical Reports Server (NTRS)

Wong, Mau C.; Kangas, Julie A.; Ballard, Christopher G.; Gustafson, Eric D.; Martin-Mur, Tomas J.

2012-01-01

The NASA Mars Science Laboratory (MSL) rover, Curiosity, was launched on November 26, 2011 and successfully landed at the Gale Crater on Mars. For the 8-month interplanetary trajectory from Earth to Mars, five nominal and two contingency trajectory correction maneuvers (TCM) were planned. The goal of these TCMs was to accurately deliver the spacecraft to the desired atmospheric entry aimpoint in Martian atmosphere so as to ensure a high probability of successful landing on the Mars surface. The primary mission requirements on maneuver performance were the total mission propellant usage and the entry flight path angle (EFPA) delivery accuracy. They were comfortably met in this mission. In this paper we will describe the spacecraft propulsion system, TCM constraints and requirements, TCM design processes, and their implementation and verification.

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

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

Experimental Evaluation of Verification and Validation Tools on Martian Rover Software

NASA Technical Reports Server (NTRS)

Brat, Guillaume; Giannakopoulou, Dimitra; Goldberg, Allen; Havelund, Klaus; Lowry, Mike; Pasareanu, Corina; Venet, Arnaud; Visser, Willem

2003-01-01

To achieve its science objectives in deep space exploration, NASA has a need for science platform vehicles to autonomously make control decisions in a time frame that excludes intervention from Earth-based controllers. Round-trip light-time is one significant factor motivating autonomy capability, another factor is the need to reduce ground support operations cost. An unsolved problem potentially impeding the adoption of autonomy capability is the verification and validation of such software systems, which exhibit far more behaviors (and hence distinct execution paths in the software) than is typical in current deepspace platforms. Hence the need for a study to benchmark advanced Verification and Validation (V&V) tools on representative autonomy software. The objective of the study was to access the maturity of different technologies, to provide data indicative of potential synergies between them, and to identify gaps in the technologies with respect to the challenge of autonomy V&V. The study consisted of two parts: first, a set of relatively independent case studies of different tools on the same autonomy code, second a carefully controlled experiment with human participants on a subset of these technologies. This paper describes the second part of the study. Overall, nearly four hundred hours of data on human use of three different advanced V&V tools were accumulated, with a control group that used conventional testing methods. The experiment simulated four independent V&V teams debugging three successive versions of an executive controller for a Martian Rover. Defects were carefully seeded into the three versions based on a profile of defects from CVS logs that occurred in the actual development of the executive controller. The rest of the document is structured a s follows. In section 2 and 3, we respectively describe the tools used in the study and the rover software that was analyzed. In section 4 the methodology for the experiment is described; this includes the code preparation, seeding of defects, participant training and experimental setup. Next we give a qualitative overview of how the experiment went from the point of view of each technology; model checking (section 5), static analysis (section 6), runtime analysis (section 7) and testing (section 8). The find section gives some preliminary quantitative results on how the tools compared.

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

NASA Technical Reports Server (NTRS)

Iskenderian, Ted

2004-01-01

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

KSC-03pd0752

NASA Image and Video Library

2003-03-17

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers align the Rover Equipment Deck (RED) on one of the Mars Exploration Rovers (MER) with the Warm Electronics Box (WEB). Processing of the rovers, plus cruise stage, lander and heat shield elements, is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

Component-Oriented Behavior Extraction for Autonomic System Design

NASA Technical Reports Server (NTRS)

Bakera, Marco; Wagner, Christian; Margaria,Tiziana; Hinchey, Mike; Vassev, Emil; Steffen, Bernhard

2009-01-01

Rich and multifaceted domain specific specification languages like the Autonomic System Specification Language (ASSL) help to design reliable systems with self-healing capabilities. The GEAR game-based Model Checker has been used successfully to investigate properties of the ESA Exo- Mars Rover in depth. We show here how to enable GEAR s game-based verification techniques for ASSL via systematic model extraction from a behavioral subset of the language, and illustrate it on a description of the Voyager II space mission.

Verification Tools Secure Online Shopping, Banking

NASA Technical Reports Server (NTRS)

2010-01-01

Just like rover or rocket technology sent into space, the software that controls these technologies must be extensively tested to ensure reliability and effectiveness. Ames Research Center invented the open-source Java Pathfinder (JPF) toolset for the deep testing of Java-based programs. Fujitsu Labs of America Inc., based in Sunnyvale, California, improved the capabilities of the JPF Symbolic Pathfinder tool, establishing the tool as a means of thoroughly testing the functionality and security of Web-based Java applications such as those used for Internet shopping and banking.

KSC-03pd0764

NASA Image and Video Library

2003-03-20

KENNEDY SPACE CENTER, Fla. - With cables released, this Mars Exploration Rover sits on the floor of the Payload Hazardous Servicing Facility. Processing of the rovers, cruise stage, lander and heat shield elements is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

KSC-03pd0765

NASA Image and Video Library

2003-03-20

KENNEDY SPACE CENTER, Fla. - With cables released, this Mars Exploration Rover (MER) sits on the floor of the Payload Hazardous Servicing Facility. Processing of the rovers, cruise stage, lander and heat shield elements is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

KSC-03pd0762

NASA Image and Video Library

2003-03-20

KENNEDY SPACE CENTER, Fla. - A worker in the Payload Hazardous Servicing Facility makes adjustments on one of the Mars Exploration Rovers (MER). Processing of the rovers, cruise stage, lander and heat shield elements is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

KSC-03pd0761

NASA Image and Video Library

2003-03-20

KENNEDY SPACE CENTER, Fla. - Workers in the Payload Hazardous Servicing Facility look over one of the Mars Exploration Rovers (MER). Processing of the rovers, cruise stage, lander and heat shield elements is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

KSC-03pd0758

NASA Image and Video Library

2003-03-20

KENNEDY SPACE CENTER, FLA. - One of the Mars Exploration Rovers (MER) sits on a stand in the Payload Hazardous Servicing Facility. Processing of the rovers, cruise stage, lander and heat shield elements is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

KSC-03pd0753

NASA Image and Video Library

2003-03-17

KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, workers check alignment of the Rover Equipment Deck (RED) on one of the Mars Exploration Rovers (MER) with the Warm Electronics Box (WEB). Processing of the rovers, plus cruise stage, lander and heat shield elements, is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

KSC-03pd0756

NASA Image and Video Library

2003-03-17

KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, the Rover Equipment Deck (RED) on one of the Mars Exploration Rovers (MER) is integrated to the Warm Electronics Box (WEB) on the WEB cart. Processing of the rovers, plus cruise stage, lander and heat shield elements, is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

KSC-03pd0754

NASA Image and Video Library

2003-03-17

KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, the Rover Equipment Deck (RED) on one of the Mars Exploration Rovers (MER) is integrated to the Warm Electronics Box (WEB) on the WEB cart. Processing of the rovers, plus cruise stage, lander and heat shield elements, is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

KSC-03pd1223

NASA Image and Video Library

2003-04-23

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

KSC-03pd0440

NASA Image and Video Library

2003-02-04

KENNEDY SPACE CENTER, FLA. - During processing, workers in the Payload Hazardous Servicing Facility work on part of the aeroshell for Mars Exploration Rover 2. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

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).

Path planning for planetary rover using extended elevation map

NASA Technical Reports Server (NTRS)

Nakatani, Ichiro; Kubota, Takashi; Yoshimitsu, Tetsuo

1994-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2009-04-01

The ExoMars mission as the first element of the ESA Aurora program is scheduled to be launched to Mars in 2016. Part of the Pasteur Exobiology Payload onboard the ExoMars rover is a Panoramic Camera System (‘PanCam') being designed to obtain high-resolution color and wide-angle multi-spectral stereoscopic panoramic images from the mast of the ExoMars rover. The PanCam instrument consists of two wide-angle cameras (WACs), which will provide multispectral stereo images with 34° field-of-view (FOV) and a High-Resolution RGB Channel (HRC) to provide close-up images with 5° field-of-view. For field testing of the PanCam breadboard in a representative environment the ExoMars PanCam team joined the 6th Arctic Mars Analogue Svalbard Expedition (AMASE) 2008. The expedition took place from 4-17 August 2008 in the Svalbard archipelago, Norway, which is considered to be an excellent site, analogue to ancient Mars. 31 scientists and engineers involved in Mars Exploration (among them the ExoMars WISDOM, MIMA and Raman-LIBS team as well as several NASA MSL teams) combined their knowledge, instruments and techniques to study the geology, geophysics, biosignatures, and life forms that can be found in volcanic complexes, warm springs, subsurface ice, and sedimentary deposits. This work has been carried out by using instruments, a rover (NASA's CliffBot), and techniques that will/may be used in future planetary missions, thereby providing the capability to simulate a full mission environment in a Mars analogue terrain. Besides demonstrating PanCam's general functionality in a field environment, test and verification of the interpretability of PanCam data for in-situ geological context determination and scientific target selection was a main objective. To process the collected data, a first version of the preliminary PanCam 3D reconstruction processing & visualization chain was used. Other objectives included to test and refine the operational scenario (based on ExoMars Rover Reference Surface Mission), to investigate data commonalities and data fusion potential w.r.t. other instruments, and to collect representative image data to evaluate various influences, such as viewing distance, surface structure, and availability of structures at "infinity" (e.g. resolution, focus quality and associated accuracy of the 3D reconstruction). Airborne images with the HRSC-AX camera (airborne camera with heritage from the Mars Express High Resolution Stereo Camera HRSC), collected during a flight campaign over Svalbard in June 2008, provided large-scale geological context information for all field sites.

A Comparison Between The NORCAT Rover Test Results and the ISRU Excavation System Model Predictions Results

NASA Technical Reports Server (NTRS)

Gallo, Christopher A.; Agui, Juan H.; Creager, Colin M.; Oravec, Heather A.

2012-01-01

An Excavation System Model has been written to simulate the collection and transportation of regolith on the moon. The calculations in this model include an estimation of the forces on the digging tool as a result of excavation into the regolith. Verification testing has been performed and the forces recorded from this testing were compared to the calculated theoretical data. The Northern Centre for Advanced Technology Inc. rovers were tested at the NASA Glenn Research Center Simulated Lunar Operations facility. This testing was in support of the In-Situ Resource Utilization program Innovative Partnership Program. Testing occurred in soils developed at the Glenn Research Center which are a mixture of different types of sands and whose soil properties have been well characterized. This testing is part of an ongoing correlation of actual field test data to the blade forces calculated by the Excavation System Model. The results from this series of tests compared reasonably with the predicted values from the code.

Visual Target Tracking on the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Kim, Won; Biesiadecki, Jeffrey; Ali, Khaled

2008-01-01

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

The Preparation for and Execution of Engineering Operations for the Mars Curiosity Rover Mission

NASA Technical Reports Server (NTRS)

Samuels, Jessica A.

2013-01-01

The Mars Science Laboratory Curiosity Rover mission is the most complex and scientifically packed rover that has ever been operated on the surface of Mars. The preparation leading up to the surface mission involved various tests, contingency planning and integration of plans between various teams and scientists for determining how operation of the spacecraft (s/c) would be facilitated. In addition, a focused set of initial set of health checks needed to be defined and created in order to ensure successful operation of rover subsystems before embarking on a two year science journey. This paper will define the role and responsibilities of the Engineering Operations team, the process involved in preparing the team for rover surface operations, the predefined engineering activities performed during the early portion of the mission, and the evaluation process used for initial and day to day spacecraft operational assessment.

Geologic Measurements using Rover Images: Lessons from Pathfinder with Application to Mars 2001

NASA Technical Reports Server (NTRS)

Bridges, N. T.; Haldemann, A. F. C.; Herkenhoff, K. E.

1999-01-01

The Pathfinder Sojourner rover successfully acquired images that provided important and exciting information on the geology of Mars. This included the documentation of rock textures, barchan dunes, soil crusts, wind tails, and ventifacts. It is expected that the Marie Curie rover cameras will also successfully return important information on landing site geology. Critical to a proper analysis of these images will be a rigorous determination of rover location and orientation. Here, the methods that were used to compute rover position for Sojourner image analysis are reviewed. Based on this experience, specific recommendations are made that should improve this process on the '01 mission.

Using Multi-Core Systems for Rover Autonomy

NASA Technical Reports Server (NTRS)

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

2010-01-01

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

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.

Autonomous Instrument Placement for Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Leger, P. Chris; Maimone, Mark

2009-01-01

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

Speed Measurement and Motion Analysis of Chang'E-3 Rover Based on Differential Phase Delay

NASA Astrophysics Data System (ADS)

Pan, C.; Liu, Q. H.; Zheng, X.; He, Q. B.; Wu, Y. J.

2015-07-01

On 2013 December 14, the Chang'E-3 made a successful soft landing on the lunar surface, and then carried out the tasks of separating the lander and the rover, and taking the photos of each other. With the same beam VLBI (Very long baseline interferometry) technique to observe the signals transmitted by the lander and the rover simultaneously, the differential phase delay between them is calculated, which can reflect a minor change of the rover's position on a scale of a few centimeters. Based on the high sensitivity of differential phase delay, the rover's speeds during 5 movements are obtained with an average of 0.056 m/s. The relationship between the rover's shake in moving process, and lunar terrain is analyzed by using the spectrum of the residual of the differential phase delay after the first-order polynomial fitting.

Speed Measurement and Motion Analysis of Chang'E-3 Rover Based on Differential Phase Delay

NASA Astrophysics Data System (ADS)

Chao, Pan; Qing-hui, Liu; Xin, Zheng; Qing-bao, He; Ya-jun, Wu

2016-04-01

On 14th December 2013, the Chang'E-3 made a successful soft landing on the lunar surface, and then carried out the tasks of separating the lander and the rover, and taking pictures of each other. With the same beam VLBI (Very Long Baseline Interferometry) technique to observe the signals transmitted by the lander and the rover simultaneously, the differential phase delay between them is calculated, which can reflect the minor changes of the rover's position on a scale of a few centimeters. Based on the high sensitivity of differential phase delay, the rover's speeds during 5 movements are obtained with an average of 0.056 m/s. The relationship between the rover's shake in the moving process and the lunar terrain is analyzed by using the spectrum of the residual of the differential phase delay after the first-order polynomial fitting.

Using a Multicore Processor for Rover Autonomous Science

NASA Technical Reports Server (NTRS)

Bornstein, Benjamin; Estlin, Tara; Clement, Bradley; Springer, Paul

2011-01-01

Multicore processing promises to be a critical component of future spacecraft. It provides immense increases in onboard processing power and provides an environment for directly supporting fault-tolerant computing. This paper discusses using a state-of-the-art multicore processor to efficiently perform image analysis onboard a Mars rover in support of autonomous science activities.

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

NASA Technical Reports Server (NTRS)

Ramesham, Rajeshuni

2010-01-01

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

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.

Mars Science Laboratory Engineering Cameras

NASA Technical Reports Server (NTRS)

Maki, Justin N.; Thiessen, David L.; Pourangi, Ali M.; Kobzeff, Peter A.; Lee, Steven W.; Dingizian, Arsham; Schwochert, Mark A.

2012-01-01

NASA's Mars Science Laboratory (MSL) Rover, which launched to Mars in 2011, is equipped with a set of 12 engineering cameras. These cameras are build-to-print copies of the Mars Exploration Rover (MER) cameras, which were sent to Mars in 2003. The engineering cameras weigh less than 300 grams each and use less than 3 W of power. Images returned from the engineering cameras are used to navigate the rover on the Martian surface, deploy the rover robotic arm, and ingest samples into the rover sample processing system. The navigation cameras (Navcams) are mounted to a pan/tilt mast and have a 45-degree square field of view (FOV) with a pixel scale of 0.82 mrad/pixel. The hazard avoidance cameras (Haz - cams) are body-mounted to the rover chassis in the front and rear of the vehicle and have a 124-degree square FOV with a pixel scale of 2.1 mrad/pixel. All of the cameras utilize a frame-transfer CCD (charge-coupled device) with a 1024x1024 imaging region and red/near IR bandpass filters centered at 650 nm. The MSL engineering cameras are grouped into two sets of six: one set of cameras is connected to rover computer A and the other set is connected to rover computer B. The MSL rover carries 8 Hazcams and 4 Navcams.

Heading South on 'Erebus Highway'

NASA Technical Reports Server (NTRS)

2005-01-01

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

Operation and Performance of the Mars Exploration Rover Imaging System on the Martian Surface

NASA Technical Reports Server (NTRS)

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

2005-01-01

This slide presentation details the Mars Exploration Rover (MER) imaging system. Over 144,000 images have been gathered from all Mars Missions, with 83.5% of them being gathered by MER. Each Rover has 9 cameras (Navcam, front and rear Hazcam, Pancam, Microscopic Image, Descent Camera, Engineering Camera, Science Camera) and produces 1024 x 1024 (1 Megapixel) images in the same format. All onboard image processing code is implemented in flight software and includes extensive processing capabilities such as autoexposure, flat field correction, image orientation, thumbnail generation, subframing, and image compression. Ground image processing is done at the Jet Propulsion Laboratory's Multimission Image Processing Laboratory using Video Image Communication and Retrieval (VICAR) while stereo processing (left/right pairs) is provided for raw image, radiometric correction; solar energy maps,triangulation (Cartesian 3-spaces) and slope maps.

CO2 Insulation for Thermal Control of the Mars Science Laboratory

NASA Technical Reports Server (NTRS)

Bhandari, Pradeep; Karlmann, Paul; Anderson, Kevin; Novak, Keith

2011-01-01

The National Aeronautics and Space Administration (NASA) is sending a large (>850 kg) rover as part of the Mars Science Laboratory (MSL) mission to Mars in 2011. The rover's primary power source is a Multi-Mission Radioisotope Thermoelectric Generator (MMRTG) that generates roughly 2000 W of heat, which is converted to approximately 110 W of electrical power for use by the rover electronics, science instruments, and mechanism-actuators. The large rover size and extreme thermal environments (cold and hot) for which the rover is designed for led to a sophisticated thermal control system to keep it within allowable temperature limits. The pre-existing Martian atmosphere of low thermal conductivity CO2 gas (8 Torr) is used to thermally protect the rover and its components from the extremely cold Martian environment (temperatures as low as -130 deg C). Conventional vacuum based insulation like Multi Layer Insulation (MLI) is not effective in a gaseous atmosphere, so engineered gaps between the warm rover internal components and the cold rover external structure were employed to implement this thermal isolation. Large gaps would lead to more thermal isolation, but would also require more of the precious volume available within the rover. Therefore, a balance of the degree of thermal isolation achieved vs. the volume of rover utilized is required to reach an acceptable design. The temperature differences between the controlled components and the rover structure vary from location to location so each gap has to be evaluated on a case-by-case basis to arrive at an optimal thickness. For every configuration and temperature difference, there is a critical thickness below which the heat transfer mechanism is dominated by simple gaseous thermal conduction. For larger gaps, the mechanism is dominated by natural convection. In general, convection leads to a poorer level of thermal isolation as compared to conduction. All these considerations play important roles in the optimization process. A three-step process was utilized to design this insulation. The first step is to come up with a simple, textbook based, closed-form equation assessment of gap thickness vs. resultant thermal isolation achieved. The second step is a more sophisticated numerical assessment using Computational Fluid Dynamics (CFD) software to investigate the effect of complicated geometries and temperature contours along them to arrive at the effective thermal isolation in a CO2 atmosphere. The third step is to test samples of representative geometries in a CO2 filled chamber to measure the thermal isolation achieved. The results of these assessments along with the consistency checks across these methods leads to the formulation of design-guidelines for gap implementation within the rover geometry. Finally, based on the geometric and functional constraints within the real rover system, a detailed design that accommodates all these factors is arrived at. This paper will describe in detail this entire process, the results of these assessments and the final design that was implemented.

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.

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.

Adams-Based Rover Terramechanics and Mobility Simulator - ARTEMIS

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

Rover Low Gain Antenna Qualification for Deep Space Thermal Environments

NASA Technical Reports Server (NTRS)

Ramesham, Rajeshuni; Amaro, Luis R.; Brown, Paula R.; Usiskin, Robert; Prater, Jack L.

2013-01-01

A method to qualify the Rover Low Gain Antenna (RLGA) for use during the Mars Science Laboratory (MSL) mission has been devised. The RLGA antenna must survive all ground operations, plus the nominal 670 Martian sol mission that includes the summer and winter seasons of the Mars thermal environment. This qualification effort was performed to verify that the RLGA design, its bonding, and packaging processes are adequate. The qualification test was designed to demonstrate a survival life of three times more than all expected ground testing, plus a nominal 670 Martian sol missions. Baseline RF tests and a visual inspection were performed on the RLGA hardware before the start of the qualification test. Functional intermittent RF tests were performed during thermal chamber breaks over the course of the complete qualification test. For the return loss measurements, the RLGA antenna was moved to a test area. A vector network analyzer was calibrated over the operational frequency range of the antenna. For the RLGA, a simple return loss measurement was performed. A total of 2,010 (3 670 or 3 times mission thermal cycles) thermal cycles was performed. Visual inspection of the RLGA hardware did not show any anomalies due to the thermal cycling. The return loss measurement results of the RLGA antenna after the PQV (Package Qualification and Verification) test did not show any anomalies. The antenna pattern data taken before and after the PQV test at the uplink and downlink frequencies were unchanged. Therefore, the developed design of RLGA is qualified for a long-duration MSL mission.

Implementing the Mars Science Laboratory Terminal Descent Sensor Field Test Campaign

NASA Technical Reports Server (NTRS)

Montgomery, James F.; Bodie, James H.; Brown, Joseph D.; Chen, Allen; Chen, Curtis W.; Essmiller, John C.; Fisher, Charles D.; Goldberg, Hannah R.; Lee, Steven W.; Shaffer, Scott J.

2012-01-01

The Mars Science Laboratory (MSL) will deliver a 900 kg rover to the surface of Mars in August 2012. MSL will utilize a new pulse-Doppler landing radar, the Terminal Descent Sensor (TDS). The TDS employs six narrow-beam antennas to provide unprecedented slant range and velocity performance at Mars to enable soft touchdown of the MSL rover using a unique sky crane Entry, De-scent, and Landing (EDL) technique. Prior to use on MSL, the TDS was put through a rigorous verification and validation (V&V) process. A key element of this V&V was operating the TDS over a series of field tests, using flight-like profiles expected during the descent and landing of MSL over Mars-like terrain on Earth. Limits of TDS performance were characterized with additional testing meant to stress operational modes outside of the expected EDL flight profiles. The flight envelope over which the TDS must operate on Mars encompasses such a large range of altitudes and velocities that a variety of venues were neces-sary to cover the test space. These venues included an F/A-18 high performance aircraft, a Eurocopter AS350 AStar helicopter and 100-meter tall Echo Towers at the China Lake Naval Air Warfare Center. Testing was carried out over a five year period from July 2006 to June 2011. TDS performance was shown, in gen-eral, to be excellent over all venues. This paper describes the planning, design, and implementation of the field test campaign plus results and lessons learned.

KSC-03pd0537

NASA Image and Video Library

2003-02-24

KENNEDY SPACE CENTER, FLA. -- The cruise stage, aeroshell and lander for the Mars Exploration Rover-1 mission and the MER-2 rover arrive at KSC's Multi-Payload Processing Facility. The same flight hardware for the MER-2 rover arrived Jan. 27; however, the MER-2 rover is scheduled to arrive at KSC in March. While at KSC, each of the two rovers, the aeroshells and the landers will undergo a full mission simulation. All of these flight elements will then be integrated together. After spin balance testing, each spacecraft will be mated to a solid propellant upper stage booster that will propel the spacecraft out of Earth orbit. Approximately 10 days before launch they will be transported to the launch pad for mating with their respective Boeing Delta II rockets. The rovers will serve as robotic geologists to seek answers about the evolution of Mars, particularly for a history of water. The rovers will be identical to each other, but will land at different regions of Mars. Launch of the MER-1 is scheduled for May 30. MER-2 will follow June 25.

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.

Visual Prediction of Rover Slip: Learning Algorithms and Field Experiments

DTIC Science & Technology

2008-01-01

DATES COVERED 00-00-2008 to 00-00-2008 4. TITLE AND SUBTITLE Visual Prediction of Rover Slip: Learning Algorithms and Field Experiments 5a...rover mobility [23, 78]. Remote slip prediction will enable safe traversals on large slopes covered with sand, drift material or loose crater ejecta...aqueous processes, e.g., mineral-rich out- crops which imply exposure to water [92] or putative lake formations or shorelines, layered deposits, etc

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

NASA Technical Reports Server (NTRS)

Cannon, Howard

2017-01-01

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

Application of the Core Flight System to a Lunar Rover

NASA Technical Reports Server (NTRS)

Cannon, Howard

2017-01-01

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

Mission Operations of the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Bass, Deborah; Lauback, Sharon; Mishkin, Andrew; Limonadi, Daniel

2007-01-01

A document describes a system of processes involved in planning, commanding, and monitoring operations of the rovers Spirit and Opportunity of the Mars Exploration Rover mission. The system is designed to minimize command turnaround time, given that inherent uncertainties in terrain conditions and in successful completion of planned landed spacecraft motions preclude planning of some spacecraft activities until the results of prior activities are known by the ground-based operations team. The processes are partitioned into those (designated as tactical) that must be tied to the Martian clock and those (designated strategic) that can, without loss, be completed in a more leisurely fashion. The tactical processes include assessment of downlinked data, refinement and validation of activity plans, sequencing of commands, and integration and validation of sequences. Strategic processes include communications planning and generation of long-term activity plans. The primary benefit of this partition is to enable the tactical portion of the team to focus solely on tasks that contribute directly to meeting the deadlines for commanding the rover s each sol (1 sol = 1 Martian day) - achieving a turnaround time of 18 hours or less, while facilitating strategic team interactions with other organizations that do not work on a Mars time schedule.

Bringing Terramechanics to bear on Planetary Rover Design

NASA Astrophysics Data System (ADS)

Richter, L.

2007-08-01

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

Opportunity on 'Cabo Frio' (Simulated)

NASA Technical Reports Server (NTRS)

2006-01-01

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

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

Curiosity Drill After Drilling at Telegraph Peak

NASA Image and Video Library

2015-03-06

This view from the Mast Camera (Mastcam) on NASA's Curiosity Mars rover shows the rover's drill just after finishing a drilling operation at a target rock called "Telegraph Peak" on Feb. 24, 2015, the 908th Martian day, or sol, of the rover's work on Mars. Three sols later, a fault-protection action by the rover halted a process of transferring sample powder that was collected during this drilling. The image is in raw color, as recorded directly by the camera, and has not been white-balanced. The fault-protection event, triggered by an irregularity in electrical current, led to engineering tests in subsequent days to diagnose the underlying cause. http://photojournal.jpl.nasa.gov/catalog/PIA19145

International testing of a Mars rover prototype

NASA Astrophysics Data System (ADS)

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

1993-03-01

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

From Prime to Extended Mission: Evolution of the MER Tactical Uplink Process

NASA Technical Reports Server (NTRS)

Mishkin, Andrew H.; Laubach, Sharon

2006-01-01

To support a 90-day surface mission for two robotic rovers, the Mars Exploration Rover mission designed and implemented an intensive tactical operations process, enabling daily commanding of each rover. Using a combination of new processes, custom software tools, a Mars-time staffing schedule, and seven-day-a-week operations, the MER team was able to compress the traditional weeks-long command-turnaround for a deep space robotic mission to about 18 hours. However, the pace of this process was never intended to be continued indefinitely. Even before the end of the three-month prime mission, MER operations began evolving towards greater sustainability. A combination of continued software tool development, increasing team experience, and availability of reusable sequences first reduced the mean process duration to approximately 11 hours. The number of workshifts required to perform the process dropped, and the team returned to a modified 'Earth-time' schedule. Additional process and tool adaptation eventually provided the option of planning multiple Martian days of activity within a single workshift, making 5-day-a-week operations possible. The vast majority of the science team returned to their home institutions, continuing to participate fully in the tactical operations process remotely. MER has continued to operate for over two Earth-years as many of its key personnel have moved on to other projects, the operations team and budget have shrunk, and the rovers have begun to exhibit symptoms of aging.

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.

From Concept-to-Flight: An Active Active Fluid Loop Based Thermal Control System for Mars Science Laboratory Rover

NASA Technical Reports Server (NTRS)

Birur, Gajanana C.; Bhandari, Pradeep; Bame, David; Karlmann, Paul; Mastropietro, A. J.; Liu, Yuanming; Miller, Jennifer; Pauken, Michael; Lyra, Jacqueline

2012-01-01

The Mars Science Laboratory (MSL) rover, Curiosity, which was launched on November 26, 2011, incorporates a novel active thermal control system to keep the sensitive electronics and science instruments at safe operating and survival temperatures. While the diurnal temperature variations on the Mars surface range from -120 C to +30 C, the sensitive equipment are kept within -40 C to +50 C. The active thermal control system is based on a single-phase mechanically pumped fluid loop (MPFL) system which removes or recovers excess waste heat and manages it to maintain the sensitive equipment inside the rover at safe temperatures. This paper will describe the entire process of developing this active thermal control system for the MSL rover from concept to flight implementation. The development of the rover thermal control system during its architecture, design, fabrication, integration, testing, and launch is described.

Axel Robotic Platform for Crater and Extreme Terrain Exploration

NASA Technical Reports Server (NTRS)

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

2012-01-01

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

Autonomous Science Analyses of Digital Images for Mars Sample Return and Beyond

NASA Technical Reports Server (NTRS)

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

1999-01-01

To adequately explore high priority landing sites, scientists require rovers with greater mobility. Therefore, future Mars missions will involve rovers capable of traversing tens of kilometers (vs. tens of meters traversed by Mars Pathfinder's Sojourner). However, the current process by which scientists interact with a rover does not scale to such distances. A single science objective is achieved through many iterations of a basic command cycle: (1) all data must be transmitted to Earth and analyzed; (2) from this data, new targets are selected and the necessary information from the appropriate instruments are requested; (3) new commands are then uplinked and executed by the spacecraft and (4) the resulting data are returned to Earth, starting the process again. Experience with rover tests on Earth shows that this time intensive process cannot be substantially shortened given the limited data downlink bandwidth and command cycle opportunities of real missions. Sending complete multicolor panoramas at several waypoints, for example, is out of the question for a single downlink opportunity. As a result, long traverses requiring many science command cycles would likely require many weeks, months or even years, perhaps exceeding rover design life or other constraints. Autonomous onboard science analyses can address these problems in two ways. First, it will allow the rover to transmit only "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands, for example acquiring and returning spectra of "interesting" rocks along with the images in which they were detected. Such approaches, coupled with appropriate navigational software, address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing algorithms to enable such intelligent decision making by autonomous spacecraft. Reflecting the ultimate level of ability we aim for, this program has been dubbed the "Grad Student on Mars Project". We envision, for example, an appropriately intelligent Athena-like rover at the Pathfinder landing site might be able to traverse over the ridge towards "Twin Peaks" to obtain better information on the stratigraphy of these "streamlined islands" or of the size, composition and morphology of boulders located on them. Along the traverse, the intelligent rover would collect and analyze images and obtain spectra of geologically interesting features or regions. The intelligent rover might also traverse further up Arcs Vallis, and find additional paleoflood stage indicators such as slackwater deposits. Recognizing additional regions where boulders are imbricated, noting changes in their size, distribution, morphology, composition and the associated changes in channel geometry would yield important information on the outflow channel's paleoflood history, Representative images and associated supporting data from these locations could be downlinked to Earth along with the data requested by scientists from the previous uplink opportunity. Our initial work has focused on recognizing geologically interesting portions of images. Here we summarize some of the algorithms to date.

Reading 'Endurance Crater'

NASA Technical Reports Server (NTRS)

2004-01-01

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

This image shows the area inside 'Endurance Crater' that the Mars Exploration Rover Opportunity has been examining. The rover is investigating the distinct layers of rock that make up this region. Each layer is defined by subtle color and texture variations and represents a separate chapter in Mars' history. The deeper the layer, the further back in time the rocks were formed. Scientists are 'reading' this history book by systematically studying each layer with the rover's scientific instruments. So far, data from the rover indicate that the top layers are sulfate-rich, like the rocks observed in 'Eagle Crater.' This implies that water processes were involved in forming the materials that make up these rocks.

In figure 1, the layer labeled 'A' in this picture contains broken-up rocks that most closely resemble those of 'Eagle Crater.' Layers 'B,C and D' appear less broken up and more finely laminated. Layer 'E,' on the other hand, looks more like 'A.' At present, the rover is examining layer 'D.'

So far, data from the rover indicates that the first four layers consist of sulfate-rich, jarosite-containing rocks like those observed in Eagle Crater. This implies that water processes were involved in forming the materials that make up these rocks, though the materials themselves may have been laid down by wind.

This image was taken by Opportunity's navigation camera on sol 134 (June 9, 2004).

Curiosity: How to Boldly Go...

NASA Technical Reports Server (NTRS)

Pyrzak, Guy

2013-01-01

Operating a one-ton rover on the surface of Mars requires more than just a joystick and an experiment. With 10 science instruments, 17 cameras, a radioisotope thermoelectric generator and lasers, Curiosity is the largest and most complex rover NASA has sent to Mars. Combined with a 1 way light time of 4 to 20 minutes and a distributed international science and engineering team, it takes a lot of work to operate this mega-rover. The Mars Science Lab's operations team has developed an organization and process that maximizes science return and safety of the spacecraft. These are the voyages of the rover Curiosity, its 2 year mission, to determine the habitability of Gale Crater, to understand the role of water, to study the climate and geology of Mars.

Positive-Buoyancy Rover for Under Ice Mobility

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

Determining Window Placement and Configuration for the Small Pressurized Rover (SPR)

NASA Technical Reports Server (NTRS)

Thompson, Shelby; Litaker, Harry; Howard, Robert

2009-01-01

This slide presentation reviews the process of the evaluation of window placement and configuration for the cockpit of the Lunar Electric Rover (LER). The purpose of the evaluation was to obtain human-in-the-loop data on window placement and configuration for the cockpit of the LER.

Geochemical and Mineralogical Indicators for Aqueous Processes on the West Spur of the Columbia Hills in Gusev Crater

NASA Technical Reports Server (NTRS)

Ming, D. W.; Morris, R. V.; Gellert, R.; Yen, A.; Bell, J. F., III; Blaney, D.; Christensen, P. R.; Crumpler, L.; Chu, P.; Farrand, W. H.

2005-01-01

The primary objective of the MER Spirit and Opportunity Rovers is to identify and investigate rocks, outcrops, and soils that have the highest possible chance of preserving evidence of water activity on Mars. The Athena Science Instrument Payload onboard the two rovers has provided geochemical and mineralogical information that indicates a variety of aqueous processes and various degrees of alteration at the two landing sites.

Extended Operation of Stirling Convertors

NASA Technical Reports Server (NTRS)

Roth, Mary Ellen; Schreiber, Jeffery G.; Pepper, Stephen V.

2004-01-01

A high-efficiency 110 W Stirling Radioisotope Generator 110 (SRG110) is being developed for potential NASA exploration missions. The SRG system efficiency is greater than 20%, making it an attractive candidate power system for deep space missions and unmanned rovers. The Department of Energy SRG110 Project team consists of the System Integrator, Lockheed Martin (LM), Stirling Technology Company (STC), and NASA Glenn Research Center (GRC). One of the GRC roles is to provide Independent Verification and Validation of the Stirling TDC s. At the request of LM, a part of this effort includes the Extended Operation of the TDC s in the dynamically balanced dual-opposed configuration. Performance data of Stirling Convertors over time is required to demonstrate that an SRG110 can meet long-duration mission requirements. A test plan and test system were developed to evaluate TDC s #13 and #14 steady-state performance for a minimum of 5000 hours. Hardware, software and TDC preparation processes were developed to support this test and insure safe, round-the-clock operation of the TDC s. This paper will discuss the design and development, and status of the Extended Operation Test.

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.

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

78 FR 32010 - Pipeline Safety: Public Workshop on Integrity Verification Process

Federal Register 2010, 2011, 2012, 2013, 2014

2013-05-28

.... PHMSA-2013-0119] Pipeline Safety: Public Workshop on Integrity Verification Process AGENCY: Pipeline and... announcing a public workshop to be held on the concept of ``Integrity Verification Process.'' The Integrity Verification Process shares similar characteristics with fitness for service processes. At this workshop, the...

Martian Terrain, Unfurled Rover Ramps & Deflated Airbags

NASA Image and Video Library

1997-07-05

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

Robot Sequencing and Visualization Program (RSVP)

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

Curiosity Low-Angle Self-Portrait at Buckskin Drilling Site on Mount Sharp

NASA Image and Video Library

2015-08-19

This low-angle self-portrait of NASA's Curiosity Mars rover shows the vehicle above the "Buckskin" rock target, where the mission collected its seventh drilled sample. The site is in the "Marias Pass" area of lower Mount Sharp. The scene combines dozens of images taken by Curiosity's Mars Hand Lens Imager (MAHLI) on Aug. 5, 2015, during the 1,065th Martian day, or sol, of the rover's work on Mars. The 92 component images are among MAHLI Sol 1065 raw images at http://mars.nasa.gov/msl/multimedia/raw/?s=1065&camera=MAHLI. For scale, the rover's wheels are 20 inches (50 centimeters) in diameter and about 16 inches (40 centimeters) wide. Curiosity drilled the hole at Buckskin during Sol 1060 (July 30, 2015). Two patches of pale, powdered rock material pulled from Buckskin are visible in this scene, in front of the rover. The patch closer to the rover is where the sample-handling mechanism on Curiosity's robotic arm dumped collected material that did not pass through a sieve in the mechanism. Sieved sample material was delivered to laboratory instruments inside the rover. The patch farther in front of the rover, roughly triangular in shape, shows where fresh tailings spread downhill from the drilling process. The drilled hole, 0.63 inch (1.6 centimeters) in diameter, is at the upper point of the tailings. The rover is facing northeast, looking out over the plains from the crest of a 20-foot (6-meter) hill that it climbed to reach the Marias Pass area. The upper levels of Mount Sharp are visible behind the rover, while Gale Crater's northern rim dominates the horizon on the left and right of the mosaic. A portion of this selfie cropped tighter around the rover is at PIA19808. Another version of the wide view, presented in a projection that shows the horizon as a circle, is at PIA19806. MAHLI is mounted at the end of the rover's robotic arm. For this self-portrait, the rover team positioned the camera lower in relation to the rover body than for any previous full self-portrait of Curiosity. This yielded a view that includes the rover's "belly," as in a partial self-portrait (PIA16137) taken about five weeks after Curiosity's August 2012 landing inside Mars' Gale Crater. Before sending Curiosity the arm-positioning commands for this Buckskin belly panorama, the team previewed the low-angle sequence of camera pointings on a test rover in California. A mosaic from that test is at PIA19810. This selfie at Buckskin does not include the rover's robotic arm beyond a portion of the upper arm held nearly vertical from the shoulder joint. Shadows from the rest of the arm and the turret of tools at the end of the arm are visible on the ground. With the wrist motions and turret rotations used in pointing the camera for the component images, the arm was positioned out of the shot in the frames or portions of frames used in this mosaic. This process was used previously in acquiring and assembling Curiosity self-portraits taken at sample-collection sites "Rocknest" (PIA16468), "John Klein" (PIA16937), "Windjana" (PIA18390) and "Mojave" (PIA19142). MAHLI was built by Malin Space Science Systems, San Diego. NASA's Jet Propulsion Laboratory, a division of the California Institute of Technology in Pasadena, manages the Mars Science Laboratory Project for the NASA Science Mission Directorate, Washington. JPL designed and built the project's Curiosity rover. http://photojournal.jpl.nasa.gov/catalog/PIA19807

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

NASA Astrophysics Data System (ADS)

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

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

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.

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.

78 FR 56268 - Pipeline Safety: Public Workshop on Integrity Verification Process, Comment Extension

Federal Register 2010, 2011, 2012, 2013, 2014

2013-09-12

.... PHMSA-2013-0119] Pipeline Safety: Public Workshop on Integrity Verification Process, Comment Extension... public workshop on ``Integrity Verification Process'' which took place on August 7, 2013. The notice also sought comments on the proposed ``Integrity Verification Process.'' In response to the comments received...

Analysis and Evaluation of Deployment Mechanism of a Tiny Rover in a Microgravity by Drop Tower Experiments

NASA Astrophysics Data System (ADS)

Nagaoka, Kenji; Yano, Hajime; Yoshimitsu, Tetsuo; Yoshida, Kazuya; Kubota, Takashi; Adachi, Tadashi; Kurisu, Masamitsu; Yatsunami, Hiroyuki; Kuroda, Yoji

This presentation introduces the analysis and evaluation of a deployment mechanism of a tiny rover by ZARM drop tower experiments. The mechanism is installed on the MINERVA-II2 system in the Hayabusa-2 project performed by JAXA. The MINERVA-II2 system includes a small exploration rover, and the rover will be released from the Hayabusa-2 spacecraft to the asteroid surface. After the rover lands on the surface, it will move over the surface and conduct scientific measurements. To achieve such a challenging mission, the deployment mechanism of the rover is one of the significant components. In particular, controlling the rover's landing velocity against the asteroid surface is required with high-reliability mechanism. In the MINERVA-II2 system, a reliable deployment mechanism using a metal spring is installed. By the simple mechanism, the rover's releasing velocity will be controlled within a required value. Although the performance evaluation and analysis are necessary before launch, it is difficult to experiment the deployment performance three-dimensionally on ground. In the MINERVA-II2 project, with the cooperation of ZARM, DLR and JAXA, we conducted microgravity experiments using a ZARM drop tower to examine the deployment performance in a three-dimensional microgravity. During the experiments, motion of the deployment mechanism and the rover were captured by an external camera mounted on the dropping chamber. After the drop, we analyzed the rover's releasing velocity based on image processing of the camera data. The experimental results confirmed that the deployment mechanism is feasible and reliable for controlling the rover's releasing velocity. In addition to the experiments, we analyzed a mechanical friction resistance of the mechanism from a theoretical viewpoint. These results contribute to design of spring stiffness and feedback to the development of the MINERVA-II2 flight model. Finally, the drop tower experiments were accomplished based on the agreement on the Hayabusa-2 project by DLR-JAXA. The chamber for the experiments was used, which was developed by the Hayabusa-2 project. In the experiments, we received technical and operations supports from ZARM. We sincerely express our acknowledgement to ZARM, DLR and JAXA.

Autonomous Onboard Science Image Analysis for Future Mars Rover Missions

NASA Technical Reports Server (NTRS)

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

1999-01-01

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

Multiscale soil moisture estimates using static and roving cosmic-ray soil moisture sensors

NASA Astrophysics Data System (ADS)

McJannet, David; Hawdon, Aaron; Baker, Brett; Renzullo, Luigi; Searle, Ross

2017-12-01

Soil moisture plays a critical role in land surface processes and as such there has been a recent increase in the number and resolution of satellite soil moisture observations and the development of land surface process models with ever increasing resolution. Despite these developments, validation and calibration of these products has been limited because of a lack of observations on corresponding scales. A recently developed mobile soil moisture monitoring platform, known as the rover, offers opportunities to overcome this scale issue. This paper describes methods, results and testing of soil moisture estimates produced using rover surveys on a range of scales that are commensurate with model and satellite retrievals. Our investigation involved static cosmic-ray neutron sensors and rover surveys across both broad (36 × 36 km at 9 km resolution) and intensive (10 × 10 km at 1 km resolution) scales in a cropping district in the Mallee region of Victoria, Australia. We describe approaches for converting rover survey neutron counts to soil moisture and discuss the factors controlling soil moisture variability. We use independent gravimetric and modelled soil moisture estimates collected across both space and time to validate rover soil moisture products. Measurements revealed that temporal patterns in soil moisture were preserved through time and regression modelling approaches were utilised to produce time series of property-scale soil moisture which may also have applications in calibration and validation studies or local farm management. Intensive-scale rover surveys produced reliable soil moisture estimates at 1 km resolution while broad-scale surveys produced soil moisture estimates at 9 km resolution. We conclude that the multiscale soil moisture products produced in this study are well suited to future analysis of satellite soil moisture retrievals and finer-scale soil moisture models.

Large-area Soil Moisture Surveys Using a Cosmic-ray Rover: Approaches and Results from Australia

NASA Astrophysics Data System (ADS)

Hawdon, A. A.; McJannet, D. L.; Renzullo, L. J.; Baker, B.; Searle, R.

2017-12-01

Recent improvements in satellite instrumentation has increased the resolution and frequency of soil moisture observations, and this in turn has supported the development of higher resolution land surface process models. Calibration and validation of these products is restricted by the mismatch of scales between remotely sensed and contemporary ground based observations. Although the cosmic ray neutron soil moisture probe can provide estimates soil moisture at a scale useful for the calibration and validation purposes, it is spatially limited to a single, fixed location. This scaling issue has been addressed with the development of mobile soil moisture monitoring systems that utilizes the cosmic ray neutron method, typically referred to as a `rover'. This manuscript describes a project designed to develop approaches for undertaking rover surveys to produce soil moisture estimates at scales comparable to satellite observations and land surface process models. A custom designed, trailer-mounted rover was used to conduct repeat surveys at two scales in the Mallee region of Victoria, Australia. A broad scale survey was conducted at 36 x 36 km covering an area of a standard SMAP pixel and an intensive scale survey was conducted over a 10 x 10 km portion of the broad scale survey, which is at a scale equivalent to that used for national water balance modelling. We will describe the design of the rover, the methods used for converting neutron counts into soil moisture and discuss factors controlling soil moisture variability. We found that the intensive scale rover surveys produced reliable soil moisture estimates at 1 km resolution and the broad scale at 9 km resolution. We conclude that these products are well suited for future analysis of satellite soil moisture retrievals and finer scale soil moisture models.

APXS on board Chandrayaan-2 Rover

NASA Astrophysics Data System (ADS)

Shanmugam, M.; Sripada, V. S. Murty; Acharya, Y. B.; Goyal, S. K.

2012-07-01

Alpha Particle X-ray Spectrometer (APXS) is a well proven instrument for quantitative in situ elemental analysis of the planetary surfaces and has been successfully employed for Mars surface exploration. Chandrayaan-2, ISRO's second lunar mission having an Orbiter, Lander and Rover has provided an opportunity to explore the lunar surface with superior detectors such as Silicon Drift Detector (SDD) with energy resolution of about 150eV @ 5.9keV. The objective of the APXS instrument is to analyse several soil/rock samples along the rover traverse for the major elements with characteristic X-rays in 1 to 25keV range. The working principle of APXS involves measuring the intensity of characteristic X-rays emitted from the sample due to Alpha Particle Induced X-ray Emission (PIXE) and X-ray florescence (XRF) processes using suitable radioactive sources, allowing the determination of elements from Na to Br, spanning the energy range of 0.9 to 16keV. For this experiment ^{244}Cm radioactive source has been chosen which emits both Alpha particles (5.8MeV) and X-rays (14.1keV, 18keV). APXS uses six Alpha sources, each about 5mCi activity. Unlike Mars, lunar environment poses additional challenges due to the regolith and extreme surface temperature changes, to operate the APXS. Our APXS instrument consists of two packages namely APXS sensor head and APXS signal electronics. The sensor head assembly contains SDD, six alpha sources and front end electronic circuits such as preamplifier and shaper circuits and will be mounted on a robotic arm which on command brings the sensor head close to the lunar surface at a height of 35±10mm. SDD module to be used in the experiment has 30mm ^{2} active detector area with in-built peltier cooler and heat sink to maintain the detector at about -35°C. The detector is covered with 8 micron thick Be window which results in the low energy threshold of about 1keV. The size of the APXS sensor head is 70x70x70mm ^{3} (approx). APXS signal electronics consists of a PCB having digital, power and rover interface electronics circuits, which are housed inside the Warm Electronics Box (WEB) mounted under the rover chassis where the temperature is maintained between -50°C to +70°C. Presently, we have completed the design verification model of the APXS payload and engineering model of the payload is in progress. The developed system has been tested using laboratory X-ray sources and observed an energy resolution of about 150eV at 5.9keV when the detector is cooled to -35°C. We also carried out the detection of X-ray fluorescence for some of the USGS standards for a fixed geometry of detector, source and sample, using ^{55}Fe and ^{241}Am X-ray sources. It is shown that the count rate of a given peak varies linearly with the concentration of the corresponding element. The detailed developments and results will be discussed at the conference.

Requirement Assurance: A Verification Process

NASA Technical Reports Server (NTRS)

Alexander, Michael G.

2011-01-01

Requirement Assurance is an act of requirement verification which assures the stakeholder or customer that a product requirement has produced its "as realized product" and has been verified with conclusive evidence. Product requirement verification answers the question, "did the product meet the stated specification, performance, or design documentation?". In order to ensure the system was built correctly, the practicing system engineer must verify each product requirement using verification methods of inspection, analysis, demonstration, or test. The products of these methods are the "verification artifacts" or "closure artifacts" which are the objective evidence needed to prove the product requirements meet the verification success criteria. Institutional direction is given to the System Engineer in NPR 7123.1A NASA Systems Engineering Processes and Requirements with regards to the requirement verification process. In response, the verification methodology offered in this report meets both the institutional process and requirement verification best practices.

Comparing orbiter and rover image-based mapping of an ancient sedimentary environment, Aeolis Palus, Gale crater, Mars

NASA Astrophysics Data System (ADS)

Stack, K. M.; Edwards, C. S.; Grotzinger, J. P.; Gupta, S.; Sumner, D. Y.; Calef, F. J.; Edgar, L. A.; Edgett, K. S.; Fraeman, A. A.; Jacob, S. R.; Le Deit, L.; Lewis, K. W.; Rice, M. S.; Rubin, D.; Williams, R. M. E.; Williford, K. H.

2016-12-01

This study provides the first systematic comparison of orbital facies maps with detailed ground-based geology observations from the Mars Science Laboratory (MSL) Curiosity rover to examine the validity of geologic interpretations derived from orbital image data. Orbital facies maps were constructed for the Darwin, Cooperstown, and Kimberley waypoints visited by the Curiosity rover using High Resolution Imaging Science Experiment (HiRISE) images. These maps, which represent the most detailed orbital analysis of these areas to date, were compared with rover image-based geologic maps and stratigraphic columns derived from Curiosity's Mast Camera (Mastcam) and Mars Hand Lens Imager (MAHLI). Results show that bedrock outcrops can generally be distinguished from unconsolidated surficial deposits in high-resolution orbital images and that orbital facies mapping can be used to recognize geologic contacts between well-exposed bedrock units. However, process-based interpretations derived from orbital image mapping are difficult to infer without known regional context or observable paleogeomorphic indicators, and layer-cake models of stratigraphy derived from orbital maps oversimplify depositional relationships as revealed from a rover perspective. This study also shows that fine-scale orbital image-based mapping of current and future Mars landing sites is essential for optimizing the efficiency and science return of rover surface operations.

Comparing orbiter and rover image-based mapping of an ancient sedimentary environment, Aeolis Palus, Gale crater, Mars

USGS Publications Warehouse

Stack, Kathryn M.; Edwards, Christopher; Grotzinger, J. P.; Gupta, S.; Sumner, D.; Edgar, Lauren; Fraeman, A.; Jacob, S.; LeDeit, L.; Lewis, K.W.; Rice, M.S.; Rubin, D.; Calef, F.; Edgett, K.; Williams, R.M.E.; Williford, K.H.

2016-01-01

This study provides the first systematic comparison of orbital facies maps with detailed ground-based geology observations from the Mars Science Laboratory (MSL) Curiosity rover to examine the validity of geologic interpretations derived from orbital image data. Orbital facies maps were constructed for the Darwin, Cooperstown, and Kimberley waypoints visited by the Curiosity rover using High Resolution Imaging Science Experiment (HiRISE) images. These maps, which represent the most detailed orbital analysis of these areas to date, were compared with rover image-based geologic maps and stratigraphic columns derived from Curiosity’s Mast Camera (Mastcam) and Mars Hand Lens Imager (MAHLI). Results show that bedrock outcrops can generally be distinguished from unconsolidated surficial deposits in high-resolution orbital images and that orbital facies mapping can be used to recognize geologic contacts between well-exposed bedrock units. However, process-based interpretations derived from orbital image mapping are difficult to infer without known regional context or observable paleogeomorphic indicators, and layer-cake models of stratigraphy derived from orbital maps oversimplify depositional relationships as revealed from a rover perspective. This study also shows that fine-scale orbital image-based mapping of current and future Mars landing sites is essential for optimizing the efficiency and science return of rover surface operations.

Estimation and Control for Autonomous Coring from a Rover Manipulator

NASA Technical Reports Server (NTRS)

Hudson, Nicolas; Backes, Paul; DiCicco, Matt; Bajracharya, Max

2010-01-01

A system consisting of a set of estimators and autonomous behaviors has been developed which allows robust coring from a low-mass rover platform, while accommodating for moderate rover slip. A redundant set of sensors, including a force-torque sensor, visual odometry, and accelerometers are used to monitor discrete critical and operational modes, as well as to estimate continuous drill parameters during the coring process. A set of critical failure modes pertinent to shallow coring from a mobile platform is defined, and autonomous behaviors associated with each critical mode are used to maintain nominal coring conditions. Autonomous shallow coring is demonstrated from a low-mass rover using a rotary-percussive coring tool mounted on a 5 degree-of-freedom (DOF) arm. A new architecture of using an arm-stabilized, rotary percussive tool with the robotic arm used to provide the drill z-axis linear feed is validated. Particular attention to hole start using this architecture is addressed. An end-to-end coring sequence is demonstrated, where the rover autonomously detects and then recovers from a series of slip events that exceeded 9 cm total displacement.

Design and Experimental Verification of Chang'E-3 Moon-night Survival Device for APXS

NASA Astrophysics Data System (ADS)

Deng-yi, Chen; Jian, Wu; Yi-ming, Hu; Jin, Chang; Yi-zhong, Gong; Ming-sheng, Cai; Huan-yu, Wang; Jia-yu, Zhang; Xing-zhu, Cui; Jin-zhou, Wang

2016-07-01

The Active Particle X-ray Spectrometer (APXS) is one of the 4 scientific payloads of Chang'E-3 (CE-3) Lunar Rover, of which the scientific object is to identify the elements of lunar soil and rock samples by a carried radioactive source to trigger and detect the characteristic X-ray from them. According to the extreme temperature environment of the APXS and under the restriction of limited resources, this paper presents the design and analysis of the moon-night survival device RHU (radioisotope heating unit) for the APXS, and describes the corresponding environmental tests on its structure dynamics and moon-night survival. Finally, its reinstallation on the launch tower and the preliminary result of its on-orbit operation are introduced.

A Feasability Study of the Wheel Electrostatic Spectrometer

NASA Technical Reports Server (NTRS)

Johansen, Michael Ryan; Phillips, James Ralph; Kelley, Joshua David; Mackey, Paul J.; Holbert, Eirik; Clements, Gregory R.; Calle, Carlos I.

2014-01-01

Mars rover missions rely on time-consuming, power-exhausting processes to analyze the Martian regolith. A low power electrostatic sensor in the wheels of a future Mars rover could be used to quickly determine when the rover is driving over a different type of regolith. The Electrostatics and Surface Physics Laboratory at NASA's Kennedy Space Center developed the Wheel Electrostatic Spectrometer as a feasibility study to investigate this option. In this paper, we discuss recent advances in this technology to increase the repeatability of the tribocharging experiments, along with supporting data. In addition, we discuss the development of a static elimination tool optimized for Martian conditions.

Wind-related processes detected by the Spirit rover at Gusev crater, Mars

USGS Publications Warehouse

Greeley, R.; Squyres, S. W.; Arvidson, R. E.; Bartlett, P.; Bell, J.F.; Blaney, D.; Cabrol, N.A.; Farmer, J.; Farrand, B.; Golombek, M.P.; Gorevan, S.P.; Grant, J. A.; Haldemann, A.F.C.; Herkenhoff, K. E.; Johnson, J.; Landis, G.; Madsen, M.B.; McLennan, S.H.; Moersch, J.; Rice, J. W.; Richter, L.; Ruff, S.; Sullivan, R.J.; Thompson, S.D.; Wang, A.; Weitz, C.M.; Whelley, P.

2004-01-01

Wind-abraded rocks, ripples, drifts, and other deposits of windblown sediments are seen at the Columbia Memorial Station where the Spirit rover landed. Orientations of these features suggest formative winds from the north-northwest, consistent with predictions from atmospheric models of afternoon winds in Gusev Crater. Cuttings from the rover Rock Abrasion Tool are asymmetrically distributed toward the south-southeast, suggesting active winds from the north-northwest at the time (midday) of the abrasion operations. Characteristics of some rocks, such as a two-toned appearance, suggest that they were possibly buried and exhumed on the order of 5 to 60 centimeters by wind deflation, depending on location.

Segmentation of stereo terrain images

NASA Astrophysics Data System (ADS)

George, Debra A.; Privitera, Claudio M.; Blackmon, Theodore T.; Zbinden, Eric; Stark, Lawrence W.

2000-06-01

We have studied four approaches to segmentation of images: three automatic ones using image processing algorithms and a fourth approach, human manual segmentation. We were motivated toward helping with an important NASA Mars rover mission task -- replacing laborious manual path planning with automatic navigation of the rover on the Mars terrain. The goal of the automatic segmentations was to identify an obstacle map on the Mars terrain to enable automatic path planning for the rover. The automatic segmentation was first explored with two different segmentation methods: one based on pixel luminance, and the other based on pixel altitude generated through stereo image processing. The third automatic segmentation was achieved by combining these two types of image segmentation. Human manual segmentation of Martian terrain images was used for evaluating the effectiveness of the combined automatic segmentation as well as for determining how different humans segment the same images. Comparisons between two different segmentations, manual or automatic, were measured using a similarity metric, SAB. Based on this metric, the combined automatic segmentation did fairly well in agreeing with the manual segmentation. This was a demonstration of a positive step towards automatically creating the accurate obstacle maps necessary for automatic path planning and rover navigation.

In-Situ Mosaic Production at JPL/MIPL

NASA Technical Reports Server (NTRS)

Deen, Bob

2012-01-01

Multimission Image Processing Lab (MIPL) at JPL is responsible for (among other things) the ground-based operational image processing of all the recent in-situ Mars missions: (1) Mars Pathfinder (2) Mars Polar Lander (3) Mars Exploration Rovers (MER) (4) Phoenix (5) Mars Science Lab (MSL) Mosaics are probably the most visible products from MIPL (1) Generated for virtually every rover position at which a panorama is taken (2) Provide better environmental context than single images (3) Valuable to operations and science personnel (4) Arguably the signature products for public engagement

Airbag Trail Dubbed 'Magic Carpet'

NASA Technical Reports Server (NTRS)

2004-01-01

[figure removed for brevity, see original site] Click on the image for Airbag Trail Dubbed 'Magic Carpet' (QTVR)

[figure removed for brevity, see original site] [figure removed for brevity, see original site] Magic Carpet Close-upMagic Carpet Close-up HD

This section of the first color image from the Mars Exploration Rover Spirit has been further processed to produce a sharper look at a trail left by the one of rover's airbags. The drag mark was made after the rover landed and its airbags were deflated and retracted. Scientists have dubbed the region the 'Magic Carpet' after a crumpled portion of the soil that appears to have been peeled away (lower left side of the drag mark). Rocks were also dragged by the airbags, leaving impressions and 'bow waves' in the soil. The mission team plans to drive the rover over to this site to look for additional clues about the composition of the martian soil. This image was taken by Spirit's panoramic camera.

This extreme close-up image (see insets above) highlights the martian feature that scientists have named 'Magic Carpet' because of its resemblance to a crumpled carpet fold. Scientists think the soil here may have detached from its underlying layer, possibly due to interaction with the Mars Exploration Rover Spirit's airbag after landing. This image was taken on Mars by the rover's panoramic camera.

Looking Back at 'Eagle Crater'(Left-eye)

NASA Technical Reports Server (NTRS)

2004-01-01

This is the left-eye version of the first 360-degree view from the Mars Exploration Rover Opportunity's new position outside 'Eagle Crater,' the small crater where the rover landed about two months ago. Scientists are busy analyzing Opportunity's new view of the plains of Meridiani Planum. The plentiful ripples are a clear indication that wind is the primary geologic process currently in effect on the plains. The rover's tracks can be seen leading away from Eagle Crater. At the far left are two depressions--each about a meter (about 3.3 feet) across---that feature bright spots in their centers. One possibility is that the bright material is similar in composition to the rocks in Eagle Crater's outcrop and the surrounding darker material is what's referred to as 'lag deposit,' or erosional remnants, which are much harder and more difficult to wear away. These twin dimples might be revealing pieces of a larger outcrop that lies beneath. The depression closest to Opportunity is whimsically referred to as 'Homeplate' and the one behind it as 'First Base.' The rover's panoramic camera is set to take detailed images of the depressions today, on Opportunity's 58th sol. The backshell and parachute that helped protect the rover and deliver it safely to the surface of Mars are also visible near the horizon, at the left of the image. This image was taken by the rover's navigation camera.

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.

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

NASA Image and Video Library

2015-08-19

This version of a self-portrait of NASA's Curiosity Mars rover at a drilling site called "Buckskin" on lower Mount Sharp is presented as a stereographic projection, which shows the horizon as a circle. It is a mosaic assembled from the same set of 92 component raw images used for the flatter-horizon version at PIA19807. The component images were taken by Curiosity's Mars Hand Lens Imager (MAHLI) on Aug. 5, 2015, during the 1,065th Martian day, or sol, of the rover's work on Mars. Curiosity drilled the hole at Buckskin during Sol 1060 (July 30, 2015). Two patches of pale, powdered rock material pulled from inside Buckskin are visible in this scene, in front of the rover. The patch closer to the rover is where the sample-handling mechanism on Curiosity's robotic arm dumped collected material that did not pass through a sieve in the mechanism. Sieved sample material was delivered to laboratory instruments inside the rover. The patch farther in front of the rover, roughly triangular in shape, shows where fresh tailings spread downhill from the drilling process. The drilled hole, 0.63 inch (1.6 centimeters) in diameter, is at the upper point of the tailings. The rover is facing northeast, looking out over the plains from the crest of a 20-foot (6-meter) hill that it climbed to reach the "Marias Pass" area. The upper levels of Mount Sharp are visible behind the rover, while Gale Crater's northern rim dominates most of the rest of the horizon.the horizon on the left and right of the mosaic. MAHLI is mounted at the end of the rover's robotic arm. For this self-portrait, the rover team positioned the camera lower in relation to the rover body than for any previous full self-portrait of Curiosity. The assembled mosaic does not include the rover's arm beyond a portion of the upper arm held nearly vertical from the shoulder joint. Shadows from the rest of the arm and the turret of tools at the end of the arm are visible on the ground. With the wrist motions and turret rotations used in pointing the camera for the component images, the arm was positioned out of the shot in the frames or portions of frames used in this mosaic. MAHLI was built by Malin Space Science Systems, San Diego. NASA's Jet Propulsion Laboratory, a division of the California Institute of Technology in Pasadena, manages the Mars Science Laboratory Project for the NASA Science Mission Directorate, Washington. JPL designed and built the project's Curiosity rover. http://photojournal.jpl.nasa.gov/catalog/PIA19806

The Geologic Exploration of the Bagnold Dune Field at Gale Crater by the Curiosity Rover.

PubMed

Chojnacki, Matthew; Fenton, Lori K

2017-11-01

The Mars Science Laboratory rover Curiosity engaged in a monthlong campaign investigating the Bagnold dune field in Gale crater. What represents the first in situ investigation of a dune field on another planet has resulted in a number of discoveries. Collectively, the Curiosity rover team has compiled the most comprehensive survey of any extraterrestrial aeolian system visited to date with results that yield important insights into a number of processes, including sediment transport, bed form morphology and structure, chemical and physical composition of aeolian sand, and wind regime characteristics. These findings and more are provided in detail by the JGR-Planets Special Issue Curiosity's Bagnold Dunes Campaign, Phase I.

The Geologic Exploration of the Bagnold Dune Field at Gale Crater by the Curiosity Rover

PubMed Central

Chojnacki, Matthew; Fenton, Lori K.

2018-01-01

The Mars Science Laboratory rover Curiosity engaged in a monthlong campaign investigating the Bagnold dune field in Gale crater. What represents the first in situ investigation of a dune field on another planet has resulted in a number of discoveries. Collectively, the Curiosity rover team has compiled the most comprehensive survey of any extraterrestrial aeolian system visited to date with results that yield important insights into a number of processes, including sediment transport, bed form morphology and structure, chemical and physical composition of aeolian sand, and wind regime characteristics. These findings and more are provided in detail by the JGR-Planets Special Issue Curiosity’s Bagnold Dunes Campaign, Phase I. PMID:29564198

Processing of Mars Exploration Rover Imagery for Science and Operations Planning

NASA Technical Reports Server (NTRS)

Alexander, Douglass A.; Deen, Robert G.; Andres, Paul M.; Zamani, Payam; Mortensen, Helen B.; Chen, Amy C.; Cayanan, Michael K.; Hall, Jeffrey R.; Klochko, Vadim S.; Pariser, Oleg;

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".

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

NASA Technical Reports Server (NTRS)

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

2004-01-01

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

The Mars Science Laboratory (MSL) Bagnold Dunes Campaign, Phase I: Overview and introduction to the special issue

NASA Astrophysics Data System (ADS)

Bridges, Nathan T.; Ehlmann, Bethany L.

2018-01-01

The Bagnold dunes in Gale Crater, Mars, are the first active aeolian dune field explored in situ on another planet. The Curiosity rover visited the Bagnold dune field to understand modern winds, aeolian processes, rates, and structures; to determine dune material composition, provenance, and the extent and type of compositional sorting; and to collect knowledge that informs the interpretation of past aeolian processes that are preserved in the Martian sedimentary rock record. The Curiosity rover conducted a coordinated campaign of activities lasting 4 months, interspersed with other rover activities, and employing all of the rover's science instruments and several engineering capabilities. Described in 13 manuscripts and summarized here, the major findings of the Bagnold Dunes Campaign, Phase I, include the following: the characterization of and explanation for a distinctive, meter-scale size of sinuous aeolian bedform formed in the high kinetic viscosity regime of Mars' thin atmosphere; articulation and evaluation of a grain splash model that successfully explains the occurrence of saltation even at wind speeds below the fluid threshold; determination of the dune sands' basaltic mineralogy and crystal chemistry in comparison with other soils and sedimentary rocks; and characterization of chemically distinctive volatile reservoirs in sand-sized versus dust-sized fractions of Mars soil, including two volatile-bearing types of amorphous phases.

Accessing Information on the Mars Exploration Rovers Mission

NASA Astrophysics Data System (ADS)

Walton, J. D.; Schreiner, J. A.

2005-12-01

In January 2004, the Mars Exploration Rovers (MER) mission successfully deployed two robotic geologists - Spirit and Opportunity - to opposite sides of the red planet. Onboard each rover is an array of cameras and scientific instruments that send data back to Earth, where ground-based systems process and store the information. During the height of the mission, a team of about 250 scientists and engineers worked around the clock to analyze the collected data, determine a strategy and activities for the next day and then carefully compose the command sequences that would instruct the rovers in how to perform their tasks. The scientists and engineers had to work closely together to balance the science objectives with the engineering constraints so that the mission achieved its goals safely and quickly. To accomplish this coordinated effort, they adhered to a tightly orchestrated schedule of meetings and processes. To keep on time, it was critical that all team members were aware of what was happening, knew how much time they had to complete their tasks, and could easily access the information they need to do their jobs. Computer scientists and software engineers at NASA Ames Research Center worked closely with the mission managers at the Jet Propulsion Laboratory (JPL) to create applications that support the mission. One such application, the Collaborative Information Portal (CIP), helps mission personnel perform their daily tasks, whether they work inside mission control or the science areas at JPL, or in their homes, schools, or offices. With a three-tiered, service-oriented architecture (SOA) - client, middleware, and data repository - built using Java and commercial software, CIP provides secure access to mission schedules and to data and images transmitted from the Mars rovers. This services-based approach proved highly effective for building distributed, flexible applications, and is forming the basis for the design of future mission software systems. Almost two years after the landings on Mars, the rovers are still going strong, and CIP continues to provide data access to mission personnel.

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.

Lion King Surveys Homeland

NASA Technical Reports Server (NTRS)

2004-01-01

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

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

Autonomous Image Analysis for Future Mars Missions

NASA Technical Reports Server (NTRS)

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

1999-01-01

To explore high priority landing sites and to prepare for eventual human exploration, future Mars missions will involve rovers capable of traversing tens of kilometers. However, the current process by which scientists interact with a rover does not scale to such distances. Specifically, numerous command cycles are required to complete even simple tasks, such as, pointing the spectrometer at a variety of nearby rocks. In addition, the time required by scientists to interpret image data before new commands can be given and the limited amount of data that can be downlinked during a given command cycle constrain rover mobility and achievement of science goals. Experience with rover tests on Earth supports these concerns. As a result, traverses to science sites as identified in orbital images would require numerous science command cycles over a period of many weeks, months or even years, perhaps exceeding rover design life and other constraints. Autonomous onboard science analysis can address these problems in two ways. First, it will allow the rover to preferentially transmit "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands. For example, a rover might autonomously acquire and return spectra of "interesting" rocks along with a high-resolution image of those rocks in addition to returning the context images in which they were detected. Such approaches, coupled with appropriate navigational software, help to address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing fast, autonomous algorithms to enable such intelligent on-board decision making by spacecraft. Autonomous algorithms developed to date have the ability to identify rocks and layers in a scene, locate the horizon, and compress multi-spectral image data. We are currently investigating the possibility of reconstructing a 3D surface from a sequence of images acquired by a robotic arm camera. This would then allow the return of a single completely in focus image constructed only from those portions of individual images that lie within the camera's depth of field. Output from these algorithms could be used to autonomously obtain rock spectra, determine which images should be transmitted to the ground, or to aid in image compression. We will discuss these algorithms and their performance during a recent rover field test.

Looking Up at Mars Rover Curiosity in Buckskin Selfie

NASA Image and Video Library

2015-08-19

This low-angle self-portrait of NASA's Curiosity Mars rover shows the vehicle at the site from which it reached down to drill into a rock target called "Buckskin" on lower Mount Sharp. The selfie combines several component images taken by Curiosity's Mars Hand Lens Imager (MAHLI) on Aug. 5, 2015, during the 1,065th Martian day, or sol, of the rover's work on Mars. For scale, the rover's wheels are 20 inches (50 centimeters) in diameter and about 16 inches (40 centimeters) wide. This view is a portion of a larger panorama available at PIA19807. A close look reveals a small rock stuck onto Curiosity's left middle wheel (on the right in this head-on view). The rock had been seen previously during periodic monitoring of wheel condition about three weeks earlier, in the MAHLI raw image at http://mars.nasa.gov/msl/multimedia/raw/?rawid=1046MH0002640000400290E01_DXXX&s=1046. MAHLI is mounted at the end of the rover's robotic arm. For this self-portrait, the rover team positioned the camera lower in relation to the rover body than for any previous full self-portrait of Curiosity. This yielded a view that includes the rover's "belly," as in a partial self-portrait (/catalog/PIA16137) taken about five weeks after Curiosity's August 2012 landing inside Mars' Gale Crater. The selfie at Buckskin does not include the rover's robotic arm beyond a portion of the upper arm held nearly vertical from the shoulder joint. With the wrist motions and turret rotations used in pointing the camera for the component images, the arm was positioned out of the shot in the frames or portions of frames used in this mosaic. This process was used previously in acquiring and assembling Curiosity self-portraits taken at sample-collection sites "Rocknest" (PIA16468), "John Klein" (PIA16937), "Windjana" (PIA18390) and "Mojave" (PIA19142). MAHLI was built by Malin Space Science Systems, San Diego. NASA's Jet Propulsion Laboratory, a division of the California Institute of Technology in Pasadena, manages the Mars Science Laboratory Project for the NASA Science Mission Directorate, Washington. JPL designed and built the project's Curiosity rover. MAHLI was built by Malin Space Science Systems, San Diego. NASA's Jet Propulsion Laboratory, a division of the California Institute of Technology in Pasadena, manages the Mars Science Laboratory Project for the NASA Science Mission Directorate, Washington. JPL designed and built the project's Curiosity rover. http://photojournal.jpl.nasa.gov/catalog/PIA19808

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.

Property-driven functional verification technique for high-speed vision system-on-chip processor

NASA Astrophysics Data System (ADS)

Nshunguyimfura, Victor; Yang, Jie; Liu, Liyuan; Wu, Nanjian

2017-04-01

The implementation of functional verification in a fast, reliable, and effective manner is a challenging task in a vision chip verification process. The main reason for this challenge is the stepwise nature of existing functional verification techniques. This vision chip verification complexity is also related to the fact that in most vision chip design cycles, extensive efforts are focused on how to optimize chip metrics such as performance, power, and area. Design functional verification is not explicitly considered at an earlier stage at which the most sound decisions are made. In this paper, we propose a semi-automatic property-driven verification technique. The implementation of all verification components is based on design properties. We introduce a low-dimension property space between the specification space and the implementation space. The aim of this technique is to speed up the verification process for high-performance parallel processing vision chips. Our experimentation results show that the proposed technique can effectively improve the verification effort up to 20% for the complex vision chip design while reducing the simulation and debugging overheads.

Mars Science Laboratory Sample Acquisition, Sample Processing and Handling Subsystem: A Description of the Sampling Functionality

NASA Astrophysics Data System (ADS)

Jandura, L.; Burke, K.; Kennedy, B.; Melko, J.; Okon, A.; Sunshine, D.

2009-12-01

The Sample Acquisition/Sample Processing and Handling (SA/SPaH) subsystem for the Mars Science Library (MSL) is a rover-based sampling system scheduled to launch in 2011. The SA/SPaH consists of a powdering drill and a scooping, sieving, and portioning device mounted on a turret at the end of a robotic arm. Also on the turret is a dust removal tool for clearing the surface of scientific targets, and two science instruments mounted on vibration isolators. The SA/SPaH can acquire powder from rocks at depths of 20 to 50 mm and can also pick up loose regolith with its scoop. The acquired sample is sieved and portioned and delivered to one of two instruments inside the rover for analysis. The functionality of the system will be described along with the targets the system can acquire and the sample that can be delivered. Top View of the SA/SPaH on the Rover

Preface: The Chang'e-3 lander and rover mission to the Moon

NASA Astrophysics Data System (ADS)

Ip, Wing-Huen; Yan, Jun; Li, Chun-Lai; Ouyang, Zi-Yuan

2014-12-01

The Chang'e-3 (CE-3) lander and rover mission to the Moon was an intermediate step in China's lunar exploration program, which will be followed by a sample return mission. The lander was equipped with a number of remote-sensing instruments including a pair of cameras (Landing Camera and Terrain Camera) for recording the landing process and surveying terrain, an extreme ultraviolet camera for monitoring activities in the Earth's plasmasphere, and a first-ever Moon-based ultraviolet telescope for astronomical observations. The Yutu rover successfully carried out close-up observations with the Panoramic Camera, mineralogical investigations with the VIS-NIR Imaging Spectrometer, study of elemental abundances with the Active Particle-induced X-ray Spectrometer, and pioneering measurements of the lunar subsurface with Lunar Penetrating Radar. This special issue provides a collection of key information on the instrumental designs, calibration methods and data processing procedures used by these experiments with a perspective of facilitating further analyses of scientific data from CE-3 in preparation for future missions.

Converting CSV Files to RKSML Files

NASA Technical Reports Server (NTRS)

Trebi-Ollennu, Ashitey; Liebersbach, Robert

2009-01-01

A computer program converts, into a format suitable for processing on Earth, files of downlinked telemetric data pertaining to the operation of the Instrument Deployment Device (IDD), which is a robot arm on either of the Mars Explorer Rovers (MERs). The raw downlinked data files are in comma-separated- value (CSV) format. The present program converts the files into Rover Kinematics State Markup Language (RKSML), which is an Extensible Markup Language (XML) format that facilitates representation of operations of the IDD and enables analysis of the operations by means of the Rover Sequencing Validation Program (RSVP), which is used to build sequences of commanded operations for the MERs. After conversion by means of the present program, the downlinked data can be processed by RSVP, enabling the MER downlink operations team to play back the actual IDD activity represented by the telemetric data against the planned IDD activity. Thus, the present program enhances the diagnosis of anomalies that manifest themselves as differences between actual and planned IDD activities.

Low computation vision-based navigation for a Martian rover

NASA Technical Reports Server (NTRS)

Gavin, Andrew S.; Brooks, Rodney A.

1994-01-01

Construction and design details of the Mobot Vision System, a small, self-contained, mobile vision system, are presented. This system uses the view from the top of a small, roving, robotic vehicle to supply data that is processed in real-time to safely navigate the surface of Mars. A simple, low-computation algorithm for constructing a 3-D navigational map of the Martian environment to be used by the rover is discussed.

A Roadmap for the Implementation of Continued Process Verification.

PubMed

Boyer, Marcus; Gampfer, Joerg; Zamamiri, Abdel; Payne, Robin

2016-01-01

In 2014, the members of the BioPhorum Operations Group (BPOG) produced a 100-page continued process verification case study, entitled "Continued Process Verification: An Industry Position Paper with Example Protocol". This case study captures the thought processes involved in creating a continued process verification plan for a new product in response to the U.S. Food and Drug Administration's guidance on the subject introduced in 2011. In so doing, it provided the specific example of a plan developed for a new molecular antibody product based on the "A MAb Case Study" that preceded it in 2009.This document provides a roadmap that draws on the content of the continued process verification case study to provide a step-by-step guide in a more accessible form, with reference to a process map of the product life cycle. It could be used as a basis for continued process verification implementation in a number of different scenarios: For a single product and process;For a single site;To assist in the sharing of data monitoring responsibilities among sites;To assist in establishing data monitoring agreements between a customer company and a contract manufacturing organization. The U.S. Food and Drug Administration issued guidance on the management of manufacturing processes designed to improve quality and control of drug products. This involved increased focus on regular monitoring of manufacturing processes, reporting of the results, and the taking of opportunities to improve. The guidance and practice associated with it is known as continued process verification This paper summarizes good practice in responding to continued process verification guidance, gathered from subject matter experts in the biopharmaceutical industry. © PDA, Inc. 2016.

Twin Dimples Intrigue Scientists

NASA Technical Reports Server (NTRS)

2004-01-01

This image from the Mars Exploration Rover Opportunity is part of the first set of pictures that was returned to Earth after the rover exited 'Eagle Crater.' Scientists are busy analyzing Opportunity's new view of the plains of Meridiani Planum. The plentiful ripples are a clear indication that wind is the primary geologic process currently in effect on the plains. On the left of the image are two depressions--each about a meter (about 3.3 feet) across--that feature bright spots in their centers. One possibility is that the bright material is similar in composition to the rocks in Eagle Crater's outcrop and the surrounding darker material is what's referred to as 'lag deposit,' or erosional remnants that are much harder and more difficult to wear away. These twin dimples might be revealing pieces of a larger outcrop that lies beneath. The depression closest to Opportunity is whimsically referred to as 'Homeplate' and the one behind it as 'First Base.' The rover's panoramic camera is set to take detailed images of the depressions today, on Opportunity's 58th sol. The backshell and parachute that helped protect the rover and deliver it safely to the surface of Mars are also visible near the horizon, in the center of the image. This image was taken by the rover's navigation camera.

Verification of Functional Fault Models and the Use of Resource Efficient Verification Tools

NASA Technical Reports Server (NTRS)

Bis, Rachael; Maul, William A.

2015-01-01

Functional fault models (FFMs) are a directed graph representation of the failure effect propagation paths within a system's physical architecture and are used to support development and real-time diagnostics of complex systems. Verification of these models is required to confirm that the FFMs are correctly built and accurately represent the underlying physical system. However, a manual, comprehensive verification process applied to the FFMs was found to be error prone due to the intensive and customized process necessary to verify each individual component model and to require a burdensome level of resources. To address this problem, automated verification tools have been developed and utilized to mitigate these key pitfalls. This paper discusses the verification of the FFMs and presents the tools that were developed to make the verification process more efficient and effective.

United States planetary rover status: 1989

NASA Technical Reports Server (NTRS)

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

1990-01-01

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

SpliceRover: Interpretable Convolutional Neural: Networks for Improved Splice Site Prediction.

PubMed

Zuallaert, Jasper; Godin, Fréderic; Kim, Mijung; Soete, Arne; Saeys, Yvan; De Neve, Wesley

2018-06-21

During the last decade, improvements in high-throughput sequencing have generated a wealth of genomic data. Functionally interpreting these sequences and finding the biological signals that are hallmarks of gene function and regulation is currently mostly done using automated genome annotation platforms, which mainly rely on integrated machine learning frameworks to identify different functional sites of interest, including splice sites. Splicing is an essential step in the gene regulation process, and the correct identification of splice sites is a major cornerstone in a genome annotation system. In this paper, we present SpliceRover, a predictive deep learning approach that outperforms the state-of-the-art in splice site prediction. SpliceRover uses convolutional neural networks (CNNs), which have been shown to obtain cutting edge performance on a wide variety of prediction tasks. We adapted this approach to deal with genomic sequence inputs, and show it consistently outperforms already existing approaches, with relative improvements in prediction effectiveness of up to 80.9% when measured in terms of false discovery rate. However, a major criticism of CNNs concerns their "black box" nature, as mechanisms to obtain insight into their reasoning processes are limited. To facilitate interpretability of the SpliceRover models, we introduce an approach to visualize the biologically relevant information learnt. We show that our visualization approach is able to recover features known to be important for splice site prediction (binding motifs around the splice site, presence of polypyrimidine tracts and branch points), as well as reveal new features (e.g., several types of exclusion patterns near splice sites). SpliceRover is available as a web service. The prediction tool and instructions can be found at http://bioit2.irc.ugent.be/splicerover/. Supplementary materials are available at Bioinformatics online.

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.

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.

Using Planning, Scheduling and Execution for Autonomous Mars Rover Operations

NASA Technical Reports Server (NTRS)

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

2006-01-01

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

Robust Coordination for Large Sets of Simple Rovers

NASA Technical Reports Server (NTRS)

Tumer, Kagan; Agogino, Adrian

2006-01-01

The ability to coordinate sets of rovers in an unknown environment is critical to the long-term success of many of NASA;s exploration missions. Such coordination policies must have the ability to adapt in unmodeled or partially modeled domains and must be robust against environmental noise and rover failures. In addition such coordination policies must accommodate a large number of rovers, without excessive and burdensome hand-tuning. In this paper we present a distributed coordination method that addresses these issues in the domain of controlling a set of simple rovers. The application of these methods allows reliable and efficient robotic exploration in dangerous, dynamic, and previously unexplored domains. Most control policies for space missions are directly programmed by engineers or created through the use of planning tools, and are appropriate for single rover missions or missions requiring the coordination of a small number of rovers. Such methods typically require significant amounts of domain knowledge, and are difficult to scale to large numbers of rovers. The method described in this article aims to address cases where a large number of rovers need to coordinate to solve a complex time dependent problem in a noisy environment. In this approach, each rover decomposes a global utility, representing the overall goal of the system, into rover-specific utilities that properly assign credit to the rover s actions. Each rover then has the responsibility to create a control policy that maximizes its own rover-specific utility. We show a method of creating rover-utilities that are "aligned" with the global utility, such that when the rovers maximize their own utility, they also maximize the global utility. In addition we show that our method creates rover-utilities that allow the rovers to create their control policies quickly and reliably. Our distributed learning method allows large sets rovers be used unmodeled domains, while providing robustness against rover failures and changing environments. In experimental simulations we show that our method scales well with large numbers of rovers in addition to being robust against noisy sensor inputs and noisy servo control. The results show that our method is able to scale to large numbers of rovers and achieves up to 400% performance improvement over standard machine learning methods.

77 FR 60714 - Information Collection Activities: Legacy Data Verification Process (LDVP); Submitted for Office...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-10-04

...-0008; OMB Number 1014-0009] Information Collection Activities: Legacy Data Verification Process (LDVP); Submitted for Office of Management and Budget (OMB) Review; Comment Request ACTION: 30-Day notice. SUMMARY... the Notice to Lessees (NTL) on the Legacy Data Verification Process (LDVP). This notice also provides...

Earth Science Enterprise Scientific Data Purchase Project: Verification and Validation

NASA Technical Reports Server (NTRS)

Jenner, Jeff; Policelli, Fritz; Fletcher, Rosea; Holecamp, Kara; Owen, Carolyn; Nicholson, Lamar; Dartez, Deanna

2000-01-01

This paper presents viewgraphs on the Earth Science Enterprise Scientific Data Purchase Project's verification,and validation process. The topics include: 1) What is Verification and Validation? 2) Why Verification and Validation? 3) Background; 4) ESE Data Purchas Validation Process; 5) Data Validation System and Ingest Queue; 6) Shipment Verification; 7) Tracking and Metrics; 8) Validation of Contract Specifications; 9) Earth Watch Data Validation; 10) Validation of Vertical Accuracy; and 11) Results of Vertical Accuracy Assessment.

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.

Mixed-Initiative Constraint-Based Activity Planning for Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

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

2004-01-01

In January, 2004, two NASA rovers, named Spirit and Opportunity, successfully landed on Mars, starting an unprecedented exploration of the Martian surface. Power and thermal concerns constrained the duration of this mission, leading to an aggressive plan for commanding both rovers every day. As part of the process for generating these command loads, the MAPGEN tool provides engineers and scientists an intelligent activity planning tool that allows them to more effectively generate complex plans that maximize the science return each day. The key to'the effectiveness of the MAPGEN tool is an underlying artificial intelligence plan and constraint reasoning engine. In this paper we outline the design and functionality of the MAEPGEN tool and focus on some of the key capabilities it offers to the MER mission engineers.

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.

Top of Mars Rover Curiosity Remote Sensing Mast

NASA Image and Video Library

2011-04-06

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

Amorphous Rover

NASA Technical Reports Server (NTRS)

Curtis, Steven A.

2010-01-01

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

Managing PV Power on Mars - MER Rovers

NASA Technical Reports Server (NTRS)

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

2009-01-01

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

Evaluation of HCFC AK 225 Alternatives for Precision Cleaning and Verification

NASA Technical Reports Server (NTRS)

Melton, D. M.

1998-01-01

Maintaining qualified cleaning and verification processes are essential in an production environment. Environmental regulations have and are continuing to impact cleaning and verification processing in component and large structures, both at the Michoud Assembly Facility and component suppliers. The goal of the effort was to assure that the cleaning and verification proceeds unimpeded and that qualified, environmentally compliant material and process replacements are implemented and perform to specifications. The approach consisted of (1) selection of a Supersonic Gas-Liquid Cleaning System; (2) selection and evaluation of three cleaning and verification solvents as candidate alternatives to HCFC 225 (Vertrel 423 (HCFC), Vertrel MCA (HFC/1,2-Dichloroethylene), and HFE 7100DE (HFE/1,2 Dichloroethylene)); and evaluation of an analytical instrumental post cleaning verification technique. This document is presented in viewgraph format.

System Verification of MSL Skycrane Using an Integrated ADAMS Simulation

NASA Technical Reports Server (NTRS)

White, Christopher; Antoun, George; Brugarolas, Paul; Lih, Shyh-Shiuh; Peng, Chia-Yen; Phan, Linh; San Martin, Alejandro; Sell, Steven

2012-01-01

Mars Science Laboratory (MSL) will use the Skycrane architecture to execute final descent and landing maneuvers. The Skycrane phase uses closed-loop feedback control throughout the entire phase, starting with rover separation, through mobility deploy, and through touchdown, ending only when the bridles have completely slacked. The integrated ADAMS simulation described in this paper couples complex dynamical models created by the mechanical subsystem with actual GNC flight software algorithms that have been compiled and linked into ADAMS. These integrated simulations provide the project with the best means to verify key Skycrane requirements which have a tightly coupled GNC-Mechanical aspect to them. It also provides the best opportunity to validate the design of the algorithm that determines when to cut the bridles. The results of the simulations show the excellent performance of the Skycrane system.

ExoMars Raman laser spectrometer breadboard overview

NASA Astrophysics Data System (ADS)

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

2011-10-01

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

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.

Panoramic 3d Vision on the ExoMars Rover

NASA Astrophysics Data System (ADS)

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

The Pasteur payload on the ESA ExoMars Rover 2011/2013 is designed to search for evidence of extant or extinct life either on or up to ˜2 m below the surface of Mars. The rover will be equipped by a panoramic imaging system to be developed by a UK, German, Austrian, Swiss, Italian and French team for visual characterization of the rover's surroundings and (in conjunction with an infrared imaging spectrometer) remote detection of potential sample sites. The Panoramic Camera system consists of a wide angle multispectral stereo pair with 65° field-of-view (WAC; 1.1 mrad/pixel) and a high resolution monoscopic camera (HRC; current design having 59.7 µrad/pixel with 3.5° field-of-view) . Its scientific goals and operational requirements can be summarized as follows: • Determination of objects to be investigated in situ by other instruments for operations planning • Backup and Support for the rover visual navigation system (path planning, determination of subsequent rover positions and orientation/tilt within the 3d environment), and localization of the landing site (by stellar navigation or by combination of orbiter and ground panoramic images) • Geological characterization (using narrow band geology filters) and cartography of the local environments (local Digital Terrain Model or DTM). • Study of atmospheric properties and variable phenomena near the Martian surface (e.g. aerosol opacity, water vapour column density, clouds, dust devils, meteors, surface frosts,) 1 • Geodetic studies (observations of Sun, bright stars, Phobos/Deimos). The performance of 3d data processing is a key element of mission planning and scientific data analysis. The 3d Vision Team within the Panoramic Camera development Consortium reports on the current status of development, consisting of the following items: • Hardware Layout & Engineering: The geometric setup of the system (location on the mast & viewing angles, mutual mounting between WAC and HRC) needs to be optimized w.r.t. fields of view, ranging capability (distance measurement capability), data rate, necessity of calibration targets, hardware & data interfaces to other subsystems (e.g. navigation) as well as accuracy impacts of sensor design and compression ratio. • Geometric Calibration: The geometric properties of the individual cameras including various spectral filters, their mutual relations and the dynamic geometrical relation between rover frame and cameras - with the mast in between - are precisely described by a calibration process. During surface operations these relations will be continuously checked and updated by photogrammetric means, environmental influences such as temperature, pressure and the Mars gravity will be taken into account. • Surface Mapping: Stereo imaging using the WAC stereo pair is used for the 3d reconstruction of the rover vicinity to identify, locate and characterize potentially interesting spots (3-10 for an experimental cycle to be performed within approx. 10-30 sols). The HRC is used for high resolution imagery of these regions of interest to be overlaid on the 3d reconstruction and potentially refined by shape-from-shading techniques. A quick processing result is crucial for time critical operations planning, therefore emphasis is laid on the automatic behaviour and intrinsic error detection mechanisms. The mapping results will be continuously fused, updated and synchronized with the map used by the navigation system. The surface representation needs to take into account the different resolutions of HRC and WAC as well as uncommon or even unexpected image acquisition modes such as long range, wide baseline stereo from different rover positions or escape strategies in the case of loss of one of the stereo camera heads. • Panorama Mosaicking: The production of a high resolution stereoscopic panorama nowadays is state-of-art in computer vision. However, certain 2 challenges such as the need for access to accurate spherical coordinates, maintenance of radiometric & spectral response in various spectral bands, fusion between HRC and WAC, super resolution, and again the requirement of quick yet robust processing will add some complexity to the ground processing system. • Visualization for Operations Planning: Efficient operations planning is directly related to an ergonomic and well performing visualization. It is intended to adapt existing tools to an integrated visualization solution for the purpose of scientific site characterization, view planning and reachability mapping/instrument placement of pointing sensors (including the panoramic imaging system itself), and selection of regions of interest. The main interfaces between the individual components as well as the first version of a user requirement document are currently under definition. Beside the support for sensor layout and calibration the 3d vision system will consist of 2-3 main modules to be used during ground processing & utilization of the ExoMars Rover panoramic imaging system. 3

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.

Size Comparison: Three Generations of Mars Rovers

NASA Image and Video Library

2008-11-19

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

Rover 2 Moved to Workstand

NASA Technical Reports Server (NTRS)

2003-01-01

January 28, 2003

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

Curiosity Self-Portrait at Murray Buttes.

NASA Image and Video Library

2016-10-03

This self-portrait of NASA's Curiosity Mars rover shows the vehicle at the "Quela" drilling location in the "Murray Buttes" area on lower Mount Sharp. Key features on the skyline of this panorama are the dark mesa called "M12" to the left of the rover's mast and pale, upper Mount Sharp to the right of the mast. The top of M12 stands about 23 feet (7 meters) above the base of the sloping piles of rocks just behind Curiosity. The scene combines approximately 60 images taken by the Mars Hand Lens Imager (MAHLI) camera at the end of the rover's robotic arm. Most of the component images were taken on Sept. 17, 2016, during the 1,463rd Martian day, or sol, of Curiosity's work on Mars. Two component images of the drill-hole area in front of the rover were taken on Sol 1466 (Sept. 20) to show the hole created by collecting a drilled sample at Quela on Sol 1464 (Sept. 18). The skyline sweeps from west on the left to south-southwest on the right, with the rover's mast at northeast. The rover's location when it recorded this scene was where it ended a drive on Sol 1455, mapped at http://mars.nasa.gov/msl/multimedia/images/?ImageID=8029. The view does not include the rover's arm nor the MAHLI camera itself, except in the miniature scene reflected upside down in the parabolic mirror at the top of the mast. That mirror is part of Curiosity's Chemistry and Camera (ChemCam) instrument. MAHLI appears in the center of the mirror. Wrist motions and turret rotations on the arm allowed MAHLI to acquire the mosaic's component images. The arm was positioned out of the shot in the images, or portions of images, that were used in this mosaic. This process was used previously in acquiring and assembling Curiosity self-portraits taken at other sample-collection sites, including "Rocknest" (PIA16468), "Windjana" (PIA18390"), "Buckskin" (PIA19808) and "Gobabeb" (PIA20316). For scale, the rover's wheels are 20 inches (50 centimeters) in diameter and about 16 inches (40 centimeters) wide. http://photojournal.jpl.nasa.gov/catalog/PIA20844

Curiosity Self-Portrait at Big Sky Drilling Site

NASA Image and Video Library

2015-10-13

This self-portrait of NASA's Curiosity Mars rover shows the vehicle at the "Big Sky" site, where its drill collected the mission's fifth taste of Mount Sharp. The scene combines dozens of images taken during the 1,126th Martian day, or sol, of Curiosity's work during Mars (Oct. 6, 2015, PDT), by the Mars Hand Lens Imager (MAHLI) camera at the end of the rover's robotic arm. The rock drilled at this site is sandstone in the Stimson geological unit inside Gale Crater. The location is on cross-bedded sandstone in which the cross bedding is more evident in views from when the rover was approaching the area, such as PIA19818. The view is centered toward the west-northwest. It does not include the rover's robotic arm, though the shadow of the arm is visible on the ground. Wrist motions and turret rotations on the arm allowed MAHLI to acquire the mosaic's component images. The arm was positioned out of the shot in the images, or portions of images, that were used in this mosaic. This process was used previously in acquiring and assembling Curiosity self-portraits taken at sample-collection sites "Rocknest" (PIA16468), "John Klein" (PIA16937) and "Windjana" (PIA18390). This portrait of the rover was designed to show the Chemistry and Camera (ChemCam) instrument atop the rover appearing level. This causes the horizon to appear to tilt toward the left, but in reality it is fairly flat. For scale, the rover's wheels are 20 inches (50 centimeters) in diameter and about 16 inches (40 centimeters) wide. The drilled hole in the rock, appearing grey near the lower left corner of the image, is 0.63 inch (1.6 centimeters) in diameter. MAHLI was built by Malin Space Science Systems, San Diego. NASA's Jet Propulsion Laboratory, a division of the California Institute of Technology in Pasadena, manages the Mars Science Laboratory Project for the NASA Science Mission Directorate, Washington. JPL designed and built the project's Curiosity rover. http://photojournal.jpl.nasa.gov/catalog/PIA19920

Automated science target selection for future Mars rovers: A machine vision approach for the future ESA ExoMars 2018 rover mission

NASA Astrophysics Data System (ADS)

Tao, Yu; Muller, Jan-Peter

2013-04-01

The ESA ExoMars 2018 rover is planned to perform autonomous science target selection (ASTS) using the approaches described in [1]. However, the approaches shown to date have focused on coarse features rather than the identification of specific geomorphological units. These higher-level "geoobjects" can later be employed to perform intelligent reasoning or machine learning. In this work, we show the next stage in the ASTS through examples displaying the identification of bedding planes (not just linear features in rock-face images) and the identification and discrimination of rocks in a rock-strewn landscape (not just rocks). We initially detect the layers and rocks in 2D processing via morphological gradient detection [1] and graph cuts based segmentation [2] respectively. To take this further requires the retrieval of 3D point clouds and the combined processing of point clouds and images for reasoning about the scene. An example is the differentiation of rocks in rover images. This will depend on knowledge of range and range-order of features. We show demonstrations of these "geo-objects" using MER and MSL (released through the PDS) as well as data collected within the EU-PRoViScout project (http://proviscout.eu). An initial assessment will be performed of the automated "geo-objects" using the OpenSource StereoViewer developed within the EU-PRoViSG project (http://provisg.eu) which is released in sourceforge. In future, additional 3D measurement tools will be developed within the EU-FP7 PRoViDE2 project, which started on 1.1.13. References: [1] M. Woods, A. Shaw, D. Barnes, D. Price, D. Long, D. Pullan, (2009) "Autonomous Science for an ExoMars Rover-Like Mission", Journal of Field Robotics Special Issue: Special Issue on Space Robotics, Part II, Volume 26, Issue 4, pages 358-390. [2] J. Shi, J. Malik, (2000) "Normalized Cuts and Image Segmentation", IEEE Transactions on Pattern Analysis and Machine Intelligence, Volume 22. [3] D. Shin, and J.-P. Muller (2009), Stereo workstation for Mars rover image analysis, in EPSC (Europlanets), Potsdam, Germany, EPSC2009-390

Microwave Extraction of Volatiles for Mars Science and ISRU

NASA Technical Reports Server (NTRS)

Ethridge, Edwin C.; Kaulker, William F.

2012-01-01

The greatest advantage of microwave heating for volatiles extraction is that excavation can be greatly reduced. Surface support operations would be simple consisting of rovers with drilling capability for insertion of microwaves down bore holes to heat at desired depths. The rovers would also provide support to scientific instruments for volatiles analysis and for volatiles collection and storage. The process has the potential for a much lower mass and a less complex system than other in-situ processes. Microwave energy penetrates the surface heating within with subsequent sublimation of water or decomposition of volatile containing minerals. On Mars the volatiles should migrate to the surface to be captured with a cold trap. The water extraction and transport process coupled with atmospheric CO2 collection could readily lead to a propellant production process, H2O + CO2 yields CH4 + O2.

Newest is Biggest: Three Generations of NASA Mars Rovers

NASA Image and Video Library

2008-11-19

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

Space Station automated systems testing/verification and the Galileo Orbiter fault protection design/verification

NASA Technical Reports Server (NTRS)

Landano, M. R.; Easter, R. W.

1984-01-01

Aspects of Space Station automated systems testing and verification are discussed, taking into account several program requirements. It is found that these requirements lead to a number of issues of uncertainties which require study and resolution during the Space Station definition phase. Most, if not all, of the considered uncertainties have implications for the overall testing and verification strategy adopted by the Space Station Program. A description is given of the Galileo Orbiter fault protection design/verification approach. Attention is given to a mission description, an Orbiter description, the design approach and process, the fault protection design verification approach/process, and problems of 'stress' testing.

40 CFR 1066.275 - Daily dynamometer readiness verification.

Code of Federal Regulations, 2014 CFR

2014-07-01

...) AIR POLLUTION CONTROLS VEHICLE-TESTING PROCEDURES Dynamometer Specifications § 1066.275 Daily... automated process for this verification procedure, perform this evaluation by setting the initial speed and... your dynamometer does not perform this verification with an automated process: (1) With the dynamometer...

Exploring the Martian Highlands using a Rover-Deployed Ground Penetrating Radar

NASA Technical Reports Server (NTRS)

Grant, J. A.; Schutz, A. E.; Campbell, B. A.

2001-01-01

The Martian highlands record a long and often complex history of geologic activity that has shaped the planet over time. Results of geologic mapping and new data from the Mars Global Surveyor spacecraft reveal layered surfaces created by multiple processes that are often mantled by eolian deposits. Knowledge of the near-surface stratigraphy as it relates to evolution of surface morphology will provide critical context for interpreting rover/lander remote sensing data and for defining the geologic setting of a highland lander. Rover-deployed ground penetrating radar (GPR) can directly measure the range and character of in situ radar properties, thereby helping to constrain near-surface geology and structure. As is the case for most remote sensing instruments, a GPR may not detect water unambiguously on Mars. Nevertheless, any local, near-surface occurrence of liquid water will lead to large, easily detected dielectric contrasts. Moreover, definition of stratigraphy and setting will help in evaluating the history of aqueous activity and where any water might occur and be accessible. GPR data can also be used to infer the degree of any post-depositional pedogenic alteration or weathering, thereby enabling assessment of pristine versus secondary morphology. Most importantly perhaps, GPR can provide critical context for other rover and orbital instruments/data sets. Hence, rover-deployment of a GPR deployment should enable 3-D mapping of local stratigraphy and could guide subsurface sampling.

Scaling up high throughput field phenotyping of corn and soy research plots using ground rovers

NASA Astrophysics Data System (ADS)

Peshlov, Boyan; Nakarmi, Akash; Baldwin, Steven; Essner, Scott; French, Jasenka

2017-05-01

Crop improvement programs require large and meticulous selection processes that effectively and accurately collect and analyze data to generate quality plant products as efficiently as possible, develop superior cropping and/or crop improvement methods. Typically, data collection for such testing is performed by field teams using hand-held instruments or manually-controlled devices. Although steps are taken to reduce error, the data collected in such manner can be unreliable due to human error and fatigue, which reduces the ability to make accurate selection decisions. Monsanto engineering teams have developed a high-clearance mobile platform (Rover) as a step towards high throughput and high accuracy phenotyping at an industrial scale. The rovers are equipped with GPS navigation, multiple cameras and sensors and on-board computers to acquire data and compute plant vigor metrics per plot. The supporting IT systems enable automatic path planning, plot identification, image and point cloud data QA/QC and near real-time analysis where results are streamed to enterprise databases for additional statistical analysis and product advancement decisions. Since the rover program was launched in North America in 2013, the number of research plots we can analyze in a growing season has expanded dramatically. This work describes some of the successes and challenges in scaling up of the rover platform for automated phenotyping to enable science at scale.

Aqueous cleaning and verification processes for precision cleaning of small parts

NASA Technical Reports Server (NTRS)

Allen, Gale J.; Fishell, Kenneth A.

1995-01-01

The NASA Kennedy Space Center (KSC) Materials Science Laboratory (MSL) has developed a totally aqueous process for precision cleaning and verification of small components. In 1990 the Precision Cleaning Facility at KSC used approximately 228,000 kg (500,000 lbs) of chlorofluorocarbon (CFC) 113 in the cleaning operations. It is estimated that current CFC 113 usage has been reduced by 75 percent and it is projected that a 90 percent reduction will be achieved by the end of calendar year 1994. The cleaning process developed utilizes aqueous degreasers, aqueous surfactants, and ultrasonics in the cleaning operation and an aqueous surfactant, ultrasonics, and Total Organic Carbon Analyzer (TOCA) in the nonvolatile residue (NVR) and particulate analysis for verification of cleanliness. The cleaning and verification process is presented in its entirety, with comparison to the CFC 113 cleaning and verification process, including economic and labor costs/savings.

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

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

30 CFR 250.909 - What is the Platform Verification Program?

Code of Federal Regulations, 2011 CFR

2011-07-01

... 30 Mineral Resources 2 2011-07-01 2011-07-01 false What is the Platform Verification Program? 250... Platforms and Structures Platform Verification Program § 250.909 What is the Platform Verification Program? The Platform Verification Program is the MMS approval process for ensuring that floating platforms...

Maps of the Martian Landing Sites and Rover Traverses: Viking 1 and 2, Mars Pathfinder, and Phoenix Landers, and the Mars Exploration Rovers.

NASA Astrophysics Data System (ADS)

Parker, T. J.; Calef, F. J., III; Deen, R. G.; Gengl, H.

2016-12-01

The traverse maps produced tactically for the MER and MSL rover missions are the first step in placing the observations made by each vehicle into a local and regional geologic context. For the MER, Phoenix and MSL missions, 25cm/pixel HiRISE data is available for accurately localizing the vehicles. Viking and Mars Pathfinder, however, relied on Viking Orbiter images of several tens of m/pixel to triangulate to horizon features visible both from the ground and from orbit. After Pathfinder, MGS MOC images became available for these landing sites, enabling much better correlations to horizon features and localization predictions to be made, that were then corroborated with HiRISE images beginning 9 years ago. By combining topography data from MGS, Mars Express, and stereo processing of MRO CTX and HiRISE images into orthomosaics (ORRs) and digital elevation models (DEMs), it is possible to localize all the landers and rover positions to an accuracy of a few tens of meters with respect to the Mars global control net, and to better than half a meter with respect to other features within a HiRISE orthomosaic. JPL's MIPL produces point clouds of the MER Navcam stereo images that can be processed into 1cm/pixel ORR/DEMs that are then georeferenced to a HiRISE/CTX base map and DEM. This allows compilation of seamless mosaics of the lander and rover camera-based ORR/DEMs with the HiRISE ORR/DEM that can be viewed in 3 dimensions with GIS programs with that capability. We are re-processing the Viking Lander, Mars Pathfinder, and Phoenix lander data to allow similar ORR/DEM products to be made for those missions. For the fixed landers and Spirit, we will compile merged surface/CTX/HiRISE ORR/DEMs, that will enable accurate local and regional mapping of these landing sites, and allow comparisons of the results from these missions to be made with current and future surface missions.

49 CFR 236.905 - Railroad Safety Program Plan (RSPP).

Code of Federal Regulations, 2012 CFR

2012-10-01

... to be used in the verification and validation process, consistent with appendix C to this part. The...; and (iv) The identification of the safety assessment process. (2) Design for verification and validation. The RSPP must require the identification of verification and validation methods for the...

49 CFR 236.905 - Railroad Safety Program Plan (RSPP).

Code of Federal Regulations, 2014 CFR

2014-10-01

... to be used in the verification and validation process, consistent with appendix C to this part. The...; and (iv) The identification of the safety assessment process. (2) Design for verification and validation. The RSPP must require the identification of verification and validation methods for the...

49 CFR 236.905 - Railroad Safety Program Plan (RSPP).

Code of Federal Regulations, 2013 CFR

2013-10-01

... to be used in the verification and validation process, consistent with appendix C to this part. The...; and (iv) The identification of the safety assessment process. (2) Design for verification and validation. The RSPP must require the identification of verification and validation methods for the...

49 CFR 236.905 - Railroad Safety Program Plan (RSPP).

Code of Federal Regulations, 2011 CFR

2011-10-01

... to be used in the verification and validation process, consistent with appendix C to this part. The...; and (iv) The identification of the safety assessment process. (2) Design for verification and validation. The RSPP must require the identification of verification and validation methods for the...

Virtual Rover Takes its First Turn

NASA Image and Video Library

2004-01-13

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

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

NASA Technical Reports Server (NTRS)

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

2004-01-01

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

New Day for Longest-Working Mars Rover

NASA Image and Video Library

2018-02-16

NASA's Mars Exploration Rover Opportunity recorded the dawn of the rover's 4,999th Martian day, or sol, with its Panoramic Camera (Pancam) on Feb. 15, 2018, yielding this processed, approximately true-color scene. The view looks across Endeavour Crater, which is about 14 miles (22 kilometers) in diameter, from the inner slope of the crater's western rim. Opportunity has driven a little over 28.02 miles (45.1 kilometers) since it landed in the Meridiani Planum region of Mars in January, 2004, for what was planned as a 90-sol mission. A sol lasts about 40 minutes longer than an Earth day. This view combines three separate Pancam exposures taken through filters centered on wavelengths of 601 microns (red), 535 microns (green) and 482 microns (blue). It was processed at Texas A&M University to correct for some of the oversaturation and glare, though it still includes some artifacts from pointing a camera with a dusty lens at the Sun. The processing includes radiometric correction, interpolation to fill in gaps in the data caused by saturation due to Sun's brightness, and warping the red and blue images to undo the effects of time passing between each of the exposures through different filters. https://photojournal.jpl.nasa.gov/catalog/PIA22221

An Efficient Location Verification Scheme for Static Wireless Sensor Networks.

PubMed

Kim, In-Hwan; Kim, Bo-Sung; Song, JooSeok

2017-01-24

In wireless sensor networks (WSNs), the accuracy of location information is vital to support many interesting applications. Unfortunately, sensors have difficulty in estimating their location when malicious sensors attack the location estimation process. Even though secure localization schemes have been proposed to protect location estimation process from attacks, they are not enough to eliminate the wrong location estimations in some situations. The location verification can be the solution to the situations or be the second-line defense. The problem of most of the location verifications is the explicit involvement of many sensors in the verification process and requirements, such as special hardware, a dedicated verifier and the trusted third party, which causes more communication and computation overhead. In this paper, we propose an efficient location verification scheme for static WSN called mutually-shared region-based location verification (MSRLV), which reduces those overheads by utilizing the implicit involvement of sensors and eliminating several requirements. In order to achieve this, we use the mutually-shared region between location claimant and verifier for the location verification. The analysis shows that MSRLV reduces communication overhead by 77% and computation overhead by 92% on average, when compared with the other location verification schemes, in a single sensor verification. In addition, simulation results for the verification of the whole network show that MSRLV can detect the malicious sensors by over 90% when sensors in the network have five or more neighbors.

An Efficient Location Verification Scheme for Static Wireless Sensor Networks

PubMed Central

Kim, In-hwan; Kim, Bo-sung; Song, JooSeok

2017-01-01

In wireless sensor networks (WSNs), the accuracy of location information is vital to support many interesting applications. Unfortunately, sensors have difficulty in estimating their location when malicious sensors attack the location estimation process. Even though secure localization schemes have been proposed to protect location estimation process from attacks, they are not enough to eliminate the wrong location estimations in some situations. The location verification can be the solution to the situations or be the second-line defense. The problem of most of the location verifications is the explicit involvement of many sensors in the verification process and requirements, such as special hardware, a dedicated verifier and the trusted third party, which causes more communication and computation overhead. In this paper, we propose an efficient location verification scheme for static WSN called mutually-shared region-based location verification (MSRLV), which reduces those overheads by utilizing the implicit involvement of sensors and eliminating several requirements. In order to achieve this, we use the mutually-shared region between location claimant and verifier for the location verification. The analysis shows that MSRLV reduces communication overhead by 77% and computation overhead by 92% on average, when compared with the other location verification schemes, in a single sensor verification. In addition, simulation results for the verification of the whole network show that MSRLV can detect the malicious sensors by over 90% when sensors in the network have five or more neighbors. PMID:28125007

Mars Science Laboratory Rover System Thermal Test

NASA Technical Reports Server (NTRS)

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

2012-01-01

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

Student-Teacher Linkage Verification: Model Process and Recommendations

ERIC Educational Resources Information Center

Watson, Jeffery; Graham, Matthew; Thorn, Christopher A.

2012-01-01

As momentum grows for tracking the role of individual educators in student performance, school districts across the country are implementing projects that involve linking teachers to their students. Programs that link teachers to student outcomes require a verification process for student-teacher linkages. Linkage verification improves accuracy by…

30 CFR 250.909 - What is the Platform Verification Program?

Code of Federal Regulations, 2010 CFR

2010-07-01

... 30 Mineral Resources 2 2010-07-01 2010-07-01 false What is the Platform Verification Program? 250... Verification Program § 250.909 What is the Platform Verification Program? The Platform Verification Program is the MMS approval process for ensuring that floating platforms; platforms of a new or unique design...

Initial Observations and Activities of Curiosity's Mars Hand Lens Imager (MAHLI) at the Gale Field Site

NASA Astrophysics Data System (ADS)

Aileen Yingst, R.; Edgett, Kenneth; MSL Science Team

2013-04-01

The Mars Hand Lens Imager (MAHLI) is a 2-megapixel focusable macro lens color camera on the turret on the Mars Science Laboratory rover, Curiosity's, robotic arm. The investigation centers on stratigraphy, grain-scale texture, structure, mineralogy, and morphology. MAHLI acquires focused images at working distances of 2.1 cm to infinity; at 2.1 cm the scale is 14 µm/pixel; at 6.9 cm it is 31 µm/pixel, like the Spirit and Opportunity Microscopic Imagers (MI). Most MAHLI use during the first 100 Martian days (sols) was focused on instrument, rover, and robotic arm engineering check-outs and risk reduction, including (1) interrogation of an eolian sand shadow for suitability for scooping, decontamination of the sample collection and processing system (CHIMRA, Collection and Handling for In-Situ Martian Rock Analysis), and first solid sample delivery to the Chemistry and Mineralogy (CheMin) and Sample Analysis at Mars (SAM) instruments; (2) documentation of the nature of this sand; (3) verification that samples were delivered to SAM and passed through a 150 µm mesh and a 2 mm funnel throat in the CheMin inlet; (4) development of methods for future precision robotic arm positioning of MAHLI and the Alpha Particle X-Ray Spectrometer (APXS); and (5) use of MAHLI autofocus for range-finding to determine locations to position the scoop before each scooping event. Most Sol 0-100 MAHLI images were obtained at scales of 31-110 µm/pixel; some geologic targets were imaged at 21-31 µm/pixel. No opportunities to position the camera close enough to obtain 14-20 µm/pixel images were available during this initial period. Only two rocks, named Jake Matijevic and Bathurst Inlet, were imaged at a resolution higher than MI. Both were dark gray and mantled with dust and fine/very fine sand. In both cases, the highest resolution images of these rocks show no obvious, indisputable grains, suggesting that grain sizes (as expressed at the rock surfaces) are < 80 µm. However, because of the dust and sand obscuration, the observables are unclear —grains 300-500 µm size in the Bathurst Inlet images and 300-500 µm-sized rhombus-shaped crystals in the rock, Jake Matijevic have been observed by some workers. Sand and granules (as well as dust), exhibiting a variety of colors, shapes, and other grain attributes, were deposited on rover hardware during descent. As noted above, sand as well as dust also mantles the rocks observed by MAHLI; in one case the cohesive properties of this material was demonstrated by the presence of a "micro landslide" on a rock named Burwash. At the Rocknest sand shadow, a variety of coarse to very coarse sand grains of differing color, shape, luster, angularity, and roundness were observed, including glassy spheroids and ellipsoids (perhaps formed from impact melt droplets) and clear, translucent grains. The fine to very fine sands sieved (≤ 150 µm) and delivered to the rover's observation tray exhibited at least four distinct grain types, including clear, translucent crystal fragments.

Rover Family Photo

NASA Technical Reports Server (NTRS)

2002-01-01

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

Rover Family Photo

NASA Image and Video Library

2003-02-26

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

Hydrologic data-verification management program plan

USGS Publications Warehouse

Alexander, C.W.

1982-01-01

Data verification refers to the performance of quality control on hydrologic data that have been retrieved from the field and are being prepared for dissemination to water-data users. Water-data users now have access to computerized data files containing unpublished, unverified hydrologic data. Therefore, it is necessary to develop techniques and systems whereby the computer can perform some data-verification functions before the data are stored in user-accessible files. Computerized data-verification routines can be developed for this purpose. A single, unified concept describing master data-verification program using multiple special-purpose subroutines, and a screen file containing verification criteria, can probably be adapted to any type and size of computer-processing system. Some traditional manual-verification procedures can be adapted for computerized verification, but new procedures can also be developed that would take advantage of the powerful statistical tools and data-handling procedures available to the computer. Prototype data-verification systems should be developed for all three data-processing environments as soon as possible. The WATSTORE system probably affords the greatest opportunity for long-range research and testing of new verification subroutines. (USGS)

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.

Compromises produced by the dialectic between self-verification and self-enhancement.

PubMed

Morling, B; Epstein, S

1997-12-01

Three studies of people's reactions to evaluative feedback demonstrated that the dialectic between self-enhancement and self-verification results in compromises between these 2 motives, as hypothesized in cognitive-experiential self-theory. The demonstration was facilitated by 2 procedural improvements: Enhancement and verification were established by calibrating evaluative feedback against self appraisals, and degree of enhancement and of verification were varied along a continuum, rather than categorically. There was also support for the hypotheses that processing in an intuitive-experiential mode favors enhancement and processing in an analytical-rational mode favors verification in the kinds of situations investigated.

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

NASA Astrophysics Data System (ADS)

Garg, Akshay; Singh, Amit

2012-07-01

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

KSC-03pd0209

NASA Image and Video Library

2003-01-28

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

KSC-03pd0916

NASA Image and Video Library

2003-03-29

KENNEDY SPACE CENTER, FLA. - A worker makes the final launch preparations on the rover equipment deck (RED) for the Mars Exploration Rover 2 (MER-2). Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

Mars Exploration Rover (MER) aeroshell

NASA Image and Video Library

2003-01-31

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

KSC-03pd0212

NASA Image and Video Library

2003-01-28

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

KSC-03pd0210

NASA Image and Video Library

2003-01-28

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

KSC-03pd0785

NASA Image and Video Library

2003-03-21

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

KSC-03pd0213

NASA Image and Video Library

2003-01-28

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

Instrument Deployment for Mars Rovers

NASA Technical Reports Server (NTRS)

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

2002-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-12-01

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

True 3-D View of 'Columbia Hills' from an Angle

NASA Technical Reports Server (NTRS)

2004-01-01

This mosaic of images from NASA's Mars Exploration Rover Spirit shows a panorama of the 'Columbia Hills' without any adjustment for rover tilt. When viewed through 3-D glasses, depth is much more dramatic and easier to see, compared with a tilt-adjusted version. This is because stereo views are created by producing two images, one corresponding to the view from the panoramic camera's left-eye camera, the other corresponding to the view from the panoramic camera's right-eye camera. The brain processes the visual input more accurately when the two images do not have any vertical offset. In this view, the vertical alignment is nearly perfect, but the horizon appears to curve because of the rover's tilt (because the rover was parked on a steep slope, it was tilted approximately 22 degrees to the west-northwest). Spirit took the images for this 360-degree panorama while en route to higher ground in the 'Columbia Hills.'

The highest point visible in the hills is 'Husband Hill,' named for space shuttle Columbia Commander Rick Husband. To the right are the rover's tracks through the soil, where it stopped to perform maintenance on its right front wheel in July. In the distance, below the hills, is the floor of Gusev Crater, where Spirit landed Jan. 3, 2004, before traveling more than 3 kilometers (1.8 miles) to reach this point. This vista comprises 188 images taken by Spirit's panoramic camera from its 213th day, or sol, on Mars to its 223rd sol (Aug. 9 to 19, 2004). Team members at NASA's Jet Propulsion Laboratory and Cornell University spent several weeks processing images and producing geometric maps to stitch all the images together in this mosaic. The 360-degree view is presented in a cylindrical-perspective map projection with geometric seam correction.

Payload topography camera of Chang'e-3

NASA Astrophysics Data System (ADS)

Yu, Guo-Bin; Liu, En-Hai; Zhao, Ru-Jin; Zhong, Jie; Zhou, Xiang-Dong; Zhou, Wu-Lin; Wang, Jin; Chen, Yuan-Pei; Hao, Yong-Jie

2015-11-01

Chang'e-3 was China's first soft-landing lunar probe that achieved a successful roving exploration on the Moon. A topography camera functioning as the lander's “eye” was one of the main scientific payloads installed on the lander. It was composed of a camera probe, an electronic component that performed image compression, and a cable assembly. Its exploration mission was to obtain optical images of the lunar topography in the landing zone for investigation and research. It also observed rover movement on the lunar surface and finished taking pictures of the lander and rover. After starting up successfully, the topography camera obtained static images and video of rover movement from different directions, 360° panoramic pictures of the lunar surface around the lander from multiple angles, and numerous pictures of the Earth. All images of the rover, lunar surface, and the Earth were clear, and those of the Chinese national flag were recorded in true color. This paper describes the exploration mission, system design, working principle, quality assessment of image compression, and color correction of the topography camera. Finally, test results from the lunar surface are provided to serve as a reference for scientific data processing and application.

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.

Extraterrestrial Moessbauer Spectroscopy: More than Three Years of Mars Exploration and Developments for Future Missions

NASA Technical Reports Server (NTRS)

Schroeder, Christian; Klingelhoefer, Goestar; Morris, Richard V.; Rodionov, Daniel S.; Fleischer, Iris; Blumers, Mathias

2007-01-01

The NASA Mars Exploration Rovers (MER), Spirit and Opportunity, landed on the Red Planet in January 2004. Both rovers are equipped with a miniaturized Moessbauer spectrometer MIMOS II. Designed for a three months mission, both rovers and both Moessbauer instruments are still working after more than three years of exploring the Martian surface. At the beginning of the mission, with a landed intensity of the Moessbauer source of 150 mCi, a 30 minute touch and go measurement produced scientifically valuable data while a good quality Moessbauer spectrum was obtained after approximately eight hours. Now, after about five halflives of the sources have passed, Moessbauer integrations are routinely planned to last approx.48 hours. Because of this and other age-related hardware degradations of the two rover systems, measurements now occur less frequently, but are still of outstanding quality and scientific importance. Summarizing important Moessbauer results, Spirit has traversed the plains from her landing site in Gusev crater and is now, for the greater part of the mission, investigating the stratigraphically older Columbia Hills. Olivine in rocks and soils in the plains suggests that physical rather than chemical processes are currently active.

Exploration of Victoria crater by the mars rover opportunity

USGS Publications Warehouse

Squyres, S. W.; Knoll, A.H.; Arvidson, R. E.; Ashley, James W.; Bell, J.F.; Calvin, W.M.; Christensen, P.R.; Clark, B. C.; Cohen, B. A.; De Souza, P.A.; Edgar, L.; Farrand, W. H.; Fleischer, I.; Gellert, Ralf; Golombek, M.P.; Grant, J.; Grotzinger, J.; Hayes, A.; Herkenhoff, K. E.; Johnson, J. R.; Jolliff, B.; Klingelhofer, G.; Knudson, A.; Li, R.; McCoy, T.J.; McLennan, S.M.; Ming, D. W.; Mittlefehldt, D. W.; Morris, R.V.; Rice, J. W.; Schroder, C.; Sullivan, R.J.; Yen, A.; Yingst, R.A.

2009-01-01

The Mars rover Opportunity has explored Victoria crater, a ???750-meter eroded impact crater formed in sulfate-rich sedimentary rocks. Impact-related stratigraphy is preserved in the crater walls, and meteoritic debris is present near the crater rim. The size of hematite-rich concretions decreases up-section, documenting variation in the intensity of groundwater processes. Layering in the crater walls preserves evidence of ancient wind-blown dunes. Compositional variations with depth mimic those ???6 kilometers to the north and demonstrate that water-induced alteration at Meridiani Planum was regional in scope.

Exploration of Victoria crater by the Mars rover Opportunity.

PubMed

Squyres, S W; Knoll, A H; Arvidson, R E; Ashley, J W; Bell, J F; Calvin, W M; Christensen, P R; Clark, B C; Cohen, B A; de Souza, P A; Edgar, L; Farrand, W H; Fleischer, I; Gellert, R; Golombek, M P; Grant, J; Grotzinger, J; Hayes, A; Herkenhoff, K E; Johnson, J R; Jolliff, B; Klingelhöfer, G; Knudson, A; Li, R; McCoy, T J; McLennan, S M; Ming, D W; Mittlefehldt, D W; Morris, R V; Rice, J W; Schröder, C; Sullivan, R J; Yen, A; Yingst, R A

2009-05-22

The Mars rover Opportunity has explored Victoria crater, an approximately 750-meter eroded impact crater formed in sulfate-rich sedimentary rocks. Impact-related stratigraphy is preserved in the crater walls, and meteoritic debris is present near the crater rim. The size of hematite-rich concretions decreases up-section, documenting variation in the intensity of groundwater processes. Layering in the crater walls preserves evidence of ancient wind-blown dunes. Compositional variations with depth mimic those approximately 6 kilometers to the north and demonstrate that water-induced alteration at Meridiani Planum was regional in scope.

APXS on Mars: Analyses of Soils and Rocks at Gusev Crater and Meridiani Planum

NASA Technical Reports Server (NTRS)

Rieder, R.; Gellert, R.; Brueckner, J.; Clark, B. C.; Dreibus, G.; dUston, C.; Economou, T.; Klingelhoefer, G.; Lugmair, G. W.; Waenke, H.

2004-01-01

Newly developed APXS (Alpha Particle X-Ray Spectrometers) are part of the Athena payload of the Mars Exploration Rovers Spirit and Opportunity [1]. The APXS determines the chemical composition of soils and rocks along the traverse of the two rovers. Spirit and Opportunity operate at Gusev Crater and Meridiani Planum, respectively. First results of soil X-ray spectra at both landing sites support the hypothesis of a global homogenization of the soil by large dust storms and impact processes in the northern and southern hemisphere.

Pathfinder on Mars

NASA Technical Reports Server (NTRS)

1997-01-01

The Sojourner Rover deploys the -proton x-ray spectrometer onto the rock named Moe within the rock garden in this 75- image, color-enhanced mosaic taken by the imager on the lander. (Image of the rover in the rock garden was taken on a different day than the terrain image.) The view is to the southwest, with the Carl Sagan Memorial Station in the foreground and South Twin Peak on the horizon about 1 km from the lander. [Image processed at Jet Propulsion Laboratory, Pasadena, CA]

NOTE: original caption as published in Science Magazine

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.

Preliminary Surface Thermal Design of the Mars 2020 Rover

NASA Technical Reports Server (NTRS)

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

2015-01-01

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

Space transportation system payload interface verification

NASA Technical Reports Server (NTRS)

Everline, R. T.

1977-01-01

The paper considers STS payload-interface verification requirements and the capability provided by STS to support verification. The intent is to standardize as many interfaces as possible, not only through the design, development, test and evaluation (DDT and E) phase of the major payload carriers but also into the operational phase. The verification process is discussed in terms of its various elements, such as the Space Shuttle DDT and E (including the orbital flight test program) and the major payload carriers DDT and E (including the first flights). Five tools derived from the Space Shuttle DDT and E are available to support the verification process: mathematical (structural and thermal) models, the Shuttle Avionics Integration Laboratory, the Shuttle Manipulator Development Facility, and interface-verification equipment (cargo-integration test equipment).

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.

Fe-Bearing Phases Identified by the Moessbauer Spectrometers on the Mars Exploration Rovers: An Overview

NASA Technical Reports Server (NTRS)

Morris, R. V.; Klingelhoefer, G.; Rodionov, D.; Yen, A.; Gellert, R.

2006-01-01

The twin Mars Exploration Rovers Spirit and Opportunity have explored the martian surface at Gusev Crater (GC) and Meridiani Planum (MP), respectively, for about two Earth years. The Moessbauer (MB) spectrometers on both rovers have analyzed an aggregate of 200 surface targets and have returned to Earth information on the oxidation state of iron, the mineralogical composition of Febearing phases, and the distribution of Fe among oxidation states and phases at the two landing sites [1-7]. To date, 15 component subspectra (10 doublets and 5 sextets) have been identified and most have been assigned to mineralogical compositions. Two subspectra are assigned to phases (jarosite and goethite) that are marker minerals for aqueous processes because they contain hydroxide anion in their structures. In this paper, we give an overview of the Febearing phases identified and their distributions at Gusev crater and Meridiani Planum.

Fe-Bearing Phases Indentified by the Moessbauer Spectrometers on the Mars Exploration Rovers: An Overview

NASA Technical Reports Server (NTRS)

Morris, R. V.; Klingelhoefer, G.; Ming, D. W.; Schroeder, C.; Rodionov, D.; Yen, A.; Gellert, R.

2006-01-01

The twin Mars Exploration Rovers Spirit and Opportunity have explored the martian surface at Gusev Crater (GC) and Meridiani Planum (MP), respectively, for about two Earth years. The Moessbauer (MB) spectrometers on both rovers have analyzed an aggregate of approx.200 surface targets and have returned to Earth information on the oxidation state of iron, the mineralogical composition of Fe-bearing phases, and the distribution of Fe among oxidation states and phases at the two landing sites [1-7]. To date, 15 component subspectra (10 doublets and 5 sextets) have been identified and most have been assigned to mineralogical compositions. Two subspectra are assigned to phases (jarosite and goethite) that are marker minerals for aqueous processes because they contain hydroxide anion in their structures. In this paper, we give an overview of the Febearing phases identified and their distributions at Gusev crater and Meridiani Planum.

The MITy micro-rover: Sensing, control, and operation

NASA Technical Reports Server (NTRS)

Malafeew, Eric; Kaliardos, William

1994-01-01

The sensory, control, and operation systems of the 'MITy' Mars micro-rover are discussed. It is shown that the customized sun tracker and laser rangefinder provide internal, autonomous dead reckoning and hazard detection in unstructured environments. The micro-rover consists of three articulated platforms with sensing, processing and payload subsystems connected by a dual spring suspension system. A reactive obstacle avoidance routine makes intelligent use of robot-centered laser information to maneuver through cluttered environments. The hazard sensors include a rangefinder, inclinometers, proximity sensors and collision sensors. A 486/66 laptop computer runs the graphical user interface and programming environment. A graphical window displays robot telemetry in real time and a small TV/VCR is used for real time supervisory control. Guidance, navigation, and control routines work in conjunction with the mapping and obstacle avoidance functions to provide heading and speed commands that maneuver the robot around obstacles and towards the target.

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.

Terrain Safety Assessment in Support of the Mars Science Laboratory Mission

NASA Technical Reports Server (NTRS)

Kipp, Devin

2012-01-01

In August 2012, the Mars Science Laboratory (MSL) mission will pioneer the next generation of robotic Entry, Descent, and Landing (EDL) systems by delivering the largest and most capable rover to date to the surface of Mars. The process to select the MSL landing site took over five years and began with over 50 initial candidate sites from which four finalist sites were chosen. The four finalist sites were examined in detail to assess overall science merit, EDL safety, and rover traversability on the surface. Ultimately, the engineering assessments demonstrated a high level of safety and robustness at all four finalist sites and differences in the assessment across those sites were small enough that neither EDL safety nor rover traversability considerations could significantly discriminate among the final four sites. Thus the MSL landing site at Gale Crater was selected from among the four finalists primarily on the basis of science considerations.

Amazonian chemical weathering rate derived from stony meteorite finds at Meridiani Planum on Mars

NASA Astrophysics Data System (ADS)

Schröder, Christian; Bland, Phil A.; Golombek, Matthew P.; Ashley, James W.; Warner, Nicholas H.; Grant, John A.

2016-11-01

Spacecraft exploring Mars such as the Mars Exploration Rovers Spirit and Opportunity, as well as the Mars Science Laboratory or Curiosity rover, have accumulated evidence for wet and habitable conditions on early Mars more than 3 billion years ago. Current conditions, by contrast, are cold, extremely arid and seemingly inhospitable. To evaluate exactly how dry today's environment is, it is important to understand the ongoing current weathering processes. Here we present chemical weathering rates determined for Mars. We use the oxidation of iron in stony meteorites investigated by the Mars Exploration Rover Opportunity at Meridiani Planum. Their maximum exposure age is constrained by the formation of Victoria crater and their minimum age by erosion of the meteorites. The chemical weathering rates thus derived are ~1 to 4 orders of magnitude slower than that of similar meteorites found in Antarctica where the slowest rates are observed on Earth.

Amazonian chemical weathering rate derived from stony meteorite finds at Meridiani Planum on Mars.

PubMed

Schröder, Christian; Bland, Phil A; Golombek, Matthew P; Ashley, James W; Warner, Nicholas H; Grant, John A

2016-11-11

Spacecraft exploring Mars such as the Mars Exploration Rovers Spirit and Opportunity, as well as the Mars Science Laboratory or Curiosity rover, have accumulated evidence for wet and habitable conditions on early Mars more than 3 billion years ago. Current conditions, by contrast, are cold, extremely arid and seemingly inhospitable. To evaluate exactly how dry today's environment is, it is important to understand the ongoing current weathering processes. Here we present chemical weathering rates determined for Mars. We use the oxidation of iron in stony meteorites investigated by the Mars Exploration Rover Opportunity at Meridiani Planum. Their maximum exposure age is constrained by the formation of Victoria crater and their minimum age by erosion of the meteorites. The chemical weathering rates thus derived are ∼1 to 4 orders of magnitude slower than that of similar meteorites found in Antarctica where the slowest rates are observed on Earth.

Amazonian chemical weathering rate derived from stony meteorite finds at Meridiani Planum on Mars

PubMed Central

Schröder, Christian; Bland, Phil A.; Golombek, Matthew P.; Ashley, James W.; Warner, Nicholas H.; Grant, John A.

2016-01-01

Spacecraft exploring Mars such as the Mars Exploration Rovers Spirit and Opportunity, as well as the Mars Science Laboratory or Curiosity rover, have accumulated evidence for wet and habitable conditions on early Mars more than 3 billion years ago. Current conditions, by contrast, are cold, extremely arid and seemingly inhospitable. To evaluate exactly how dry today's environment is, it is important to understand the ongoing current weathering processes. Here we present chemical weathering rates determined for Mars. We use the oxidation of iron in stony meteorites investigated by the Mars Exploration Rover Opportunity at Meridiani Planum. Their maximum exposure age is constrained by the formation of Victoria crater and their minimum age by erosion of the meteorites. The chemical weathering rates thus derived are ∼1 to 4 orders of magnitude slower than that of similar meteorites found in Antarctica where the slowest rates are observed on Earth. PMID:27834377

Preliminary Dynamic Feasibility and Analysis of a Spherical, Wind-Driven (Tumbleweed), Martian Rover

NASA Technical Reports Server (NTRS)

Flick, John J.; Toniolo, Matthew D.

2005-01-01

The process and findings are presented from a preliminary feasibility study examining the dynamics characteristics of a spherical wind-driven (or Tumbleweed) rover, which is intended for exploration of the Martian surface. The results of an initial feasibility study involving several worst-case mobility situations that a Tumbleweed rover might encounter on the surface of Mars are discussed. Additional topics include the evaluation of several commercially available analysis software packages that were examined as possible platforms for the development of a Monte Carlo Tumbleweed mission simulation tool. This evaluation lead to the development of the Mars Tumbleweed Monte Carlo Simulator (or Tumbleweed Simulator) using the Vortex physics software package from CM-Labs, Inc. Discussions regarding the development and evaluation of the Tumbleweed Simulator, as well as the results of a preliminary analysis using the tool are also presented. Finally, a brief conclusions section is presented.

International Space Station Requirement Verification for Commercial Visiting Vehicles

NASA Technical Reports Server (NTRS)

Garguilo, Dan

2017-01-01

The COTS program demonstrated NASA could rely on commercial providers for safe, reliable, and cost-effective cargo delivery to ISS. The ISS Program has developed a streamlined process to safely integrate commercial visiting vehicles and ensure requirements are met Levy a minimum requirement set (down from 1000s to 100s) focusing on the ISS interface and safety, reducing the level of NASA oversight/insight and burden on the commercial Partner. Partners provide a detailed verification and validation plan documenting how they will show they've met NASA requirements. NASA conducts process sampling to ensure that the established verification processes is being followed. NASA participates in joint verification events and analysis for requirements that require both parties verify. Verification compliance is approved by NASA and launch readiness certified at mission readiness reviews.

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

NASA Astrophysics Data System (ADS)

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

2008-09-01

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

KSC-03pd0784

NASA Image and Video Library

2003-03-21

KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, the Mars Exploration Rover-2 (MER-2) has rotated. Atop the rover can be seen the cameras, mounted on a Pancam Mast Assembly (PMA). Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0211

NASA Image and Video Library

2003-01-28

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

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

NASA Technical Reports Server (NTRS)

Morris, Richard V.

2016-01-01

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

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.

Students, Teachers, and Scientists Partner to Explore Mars

NASA Astrophysics Data System (ADS)

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

2003-12-01

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

The PanCam instrument on the 2018 Exomars rover: Scientific objectives

NASA Astrophysics Data System (ADS)

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

2010-05-01

The Exomars Panoramic Camera System is an imaging suite of three camera heads to be mounted on the ExoMars rover`s mast, with the boresight 1.8 m above ground. As late as the ExoMars Pasteur Payload Design Review (PDR) in 2009, the PanCam consists of two identical wide angle cameras (WAC) with fixed focal length lenses, and a high resolution camera (HRC) with an automatic focus mechanism, placed adjacent to the right WAC. The WAC stereo pair provides binocular vision for stereoscopic studies as well as 12 filter positions (per camera) for stereoscopic colour imaging and scientific multispectral studies. The stereo baseline of the pair is 500 mm. The two WAC have 22 mm focal length, f/10 lenses that illuminate detectors with 1024 × 1024 pixels. WAC lenses are fixed, with an optimal focus set to 4 m, and a focus ranging from 1.2 m (corresponding to the nearest view of the calibration target on the rover deck) to infinity. The HRC is able to focus between 0.9 m (distance to a drill core on the rover`s sample tray) and infinity. The instantaneous field of views of WAC and HRC are 580 μrad/pixel and 83 μrad/pixel, respectively. The corresponding resolution (in mm/pixel) at a distance of 2 m are 1.2 (WAC) and 0.17 (HRC), at 100 m distance it is 58 (WAC) and 8.3 (HRC). WAC and HRC will be geometrically co-aligned. The main scientific goal of PanCam is the geologic characterisation of the environment in which the rover is operating, providing the context for investigations carried out by the other instruments of the Pasteur payload. PanCam data will serve as a bridge between orbital data (high-resolution images from HRSC, CTX, and HiRISE, and spectrometer data from OMEGA and CRISM) and the data acquired in situ on the Martian surface. The position of HRC on top of the rover`s mast enables the detailed panoramic inspection of surface features over the full horizontal range of 360° even at large distances, an important prerequisite to identify the scientifically most promising targets and to plan the rover`s traverse. Key to success of PanCam is the provision of data that allow the determination of rock lithology, either of boulders on the surface or of outcrops. This task requires high spatial resolution as well as colour capabilities. The stereo images provide complementary information on the three-dimensional properties (i.e. the shape) of rocks. As an example, the degree of rounding of rocks as a result of fluvial transport can reveal the erosional history of the investigated particles, with possible implications on the chronology and intensity of rock-water interaction. The identification of lithology and geological history of rocks will strongly benefit from the co-aligned views of WAC (colour, stereo) and HRC (high spatial resolution), which will ensure that 3D and multispectral information is available together with fine-scale textural information for each scene. Stereo information is also of utmost importance for the determination of outcrop geometry (e.g., strike and dip of layered sequences), which helps to understand the emplacement history of sedimentary and volcanic rocks (e.g., cross-bedding, unconformities, etc.). PanCam will further reveal physical soil properties such as cohesion by imaging sites where the soil is disturbed by the rover`s wheels and the drill. Another essential task of PanCam is the imaging of samples (from the drill) before ingestion into the rover for further analysis by other instruments. PanCam can be tilted vertically and will also study the atmosphere (e.g., dust loading, opacity, clouds) and aeolian processes related to surface-atmosphere interactions, such as dust devils.

Distilling the Verification Process for Prognostics Algorithms

NASA Technical Reports Server (NTRS)

Roychoudhury, Indranil; Saxena, Abhinav; Celaya, Jose R.; Goebel, Kai

2013-01-01

The goal of prognostics and health management (PHM) systems is to ensure system safety, and reduce downtime and maintenance costs. It is important that a PHM system is verified and validated before it can be successfully deployed. Prognostics algorithms are integral parts of PHM systems. This paper investigates a systematic process of verification of such prognostics algorithms. To this end, first, this paper distinguishes between technology maturation and product development. Then, the paper describes the verification process for a prognostics algorithm as it moves up to higher maturity levels. This process is shown to be an iterative process where verification activities are interleaved with validation activities at each maturation level. In this work, we adopt the concept of technology readiness levels (TRLs) to represent the different maturity levels of a prognostics algorithm. It is shown that at each TRL, the verification of a prognostics algorithm depends on verifying the different components of the algorithm according to the requirements laid out by the PHM system that adopts this prognostics algorithm. Finally, using simplified examples, the systematic process for verifying a prognostics algorithm is demonstrated as the prognostics algorithm moves up TRLs.

Rover-based visual target tracking validation and mission infusion

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

CubeRovers for Lunar Exploration

NASA Astrophysics Data System (ADS)

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

2017-10-01

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

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

USGS Publications Warehouse

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

1998-01-01

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

Viking '79 Rover study. Volume 1: Summary report

NASA Technical Reports Server (NTRS)

1974-01-01

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

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.

Centralized Planning for Multiple Exploratory Robots

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

WATER ON MARS: EVIDENCE FROM MER MISSION RESULTS

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.

2006-01-01

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

Spirit Ascent Movie, Rover's-Eye View

NASA Technical Reports Server (NTRS)

2005-01-01

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

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

NASA Technical Reports Server (NTRS)

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

2015-01-01

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

The Mediation of Mothers’ Self-Fulfilling Effects on Their Children’s Alcohol Use: Self-Verification, Informational Conformity and Modeling Processes

PubMed Central

Madon, Stephanie; Guyll, Max; Buller, Ashley A.; Scherr, Kyle C.; Willard, Jennifer; Spoth, Richard

2010-01-01

This research examined whether self-fulfilling prophecy effects are mediated by self-verification, informational conformity, and modeling processes. The authors examined these mediational processes across multiple time frames with longitudinal data obtained from two samples of mother – child dyads (N1 = 487; N2 = 287). Children’s alcohol use was the outcome variable. The results provided consistent support for the mediational process of self-verification. In both samples and across several years of adolescence, there was a significant indirect effect of mothers’ beliefs on children’s alcohol use through children’s self-assessed likelihood of drinking alcohol in the future. Comparatively less support was found for informational conformity and modeling processes as mediators of mothers’ self-fulfilling effects. The potential for self-fulfilling prophecies to produce long lasting changes in targets’ behavior via self-verification processes are discussed. PMID:18665708

The mediation of mothers' self-fulfilling effects on their children's alcohol use: self-verification, informational conformity, and modeling processes.

PubMed

Madon, Stephanie; Guyll, Max; Buller, Ashley A; Scherr, Kyle C; Willard, Jennifer; Spoth, Richard

2008-08-01

This research examined whether self-fulfilling prophecy effects are mediated by self-verification, informational conformity, and modeling processes. The authors examined these mediational processes across multiple time frames with longitudinal data obtained from two samples of mother-child dyads (N-sub-1 = 486; N-sub-2 = 287), with children's alcohol use as the outcome variable. The results provided consistent support for the mediational process of self-verification. In both samples and across several years of adolescence, there was a significant indirect effect of mothers' beliefs on children's alcohol use through children's self-assessed likelihood of drinking alcohol in the future. Comparatively less support was found for informational conformity and modeling processes as mediators of mothers' self-fulfilling effects. The potential for self-fulfilling prophecies to produce long-lasting changes in targets' behavior via self-verification processes are discussed. (c) 2008 APA, all rights reserved

A study of applications scribe frame data verifications using design rule check

NASA Astrophysics Data System (ADS)

Saito, Shoko; Miyazaki, Masaru; Sakurai, Mitsuo; Itoh, Takahisa; Doi, Kazumasa; Sakurai, Norioko; Okada, Tomoyuki

2013-06-01

In semiconductor manufacturing, scribe frame data generally is generated for each LSI product according to its specific process design. Scribe frame data is designed based on definition tables of scanner alignment, wafer inspection and customers specified marks. We check that scribe frame design is conforming to specification of alignment and inspection marks at the end. Recently, in COT (customer owned tooling) business or new technology development, there is no effective verification method for the scribe frame data, and we take a lot of time to work on verification. Therefore, we tried to establish new verification method of scribe frame data by applying pattern matching and DRC (Design Rule Check) which is used in device verification. We would like to show scheme of the scribe frame data verification using DRC which we tried to apply. First, verification rules are created based on specifications of scanner, inspection and others, and a mark library is also created for pattern matching. Next, DRC verification is performed to scribe frame data. Then the DRC verification includes pattern matching using mark library. As a result, our experiments demonstrated that by use of pattern matching and DRC verification our new method can yield speed improvements of more than 12 percent compared to the conventional mark checks by visual inspection and the inspection time can be reduced to less than 5 percent if multi-CPU processing is used. Our method delivers both short processing time and excellent accuracy when checking many marks. It is easy to maintain and provides an easy way for COT customers to use original marks. We believe that our new DRC verification method for scribe frame data is indispensable and mutually beneficial.

NASA Mars Rover Curiosity at JPL, Side View

NASA Image and Video Library

2011-04-06

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

Curiosity: The Next Mars Rover Artist Concept

NASA Image and Video Library

2011-05-19

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

Test Rover Aids Preparations in California for Curiosity Rover on Mars

NASA Image and Video Library

2012-05-11

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

'X' Marks the Spot

NASA Technical Reports Server (NTRS)

2004-01-01

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

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

NASA Technical Reports Server (NTRS)

Tran, Sarah Diem

2015-01-01

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

Airbag Seams Leave Trails

NASA Technical Reports Server (NTRS)

2004-01-01

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

Inlet Cover On the Curiosity Rover

NASA Image and Video Library

2018-06-04

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

Airbag Impressions in Soil

NASA Technical Reports Server (NTRS)

2004-01-01

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

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

NASA Technical Reports Server (NTRS)

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

2004-01-01

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

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

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

Control technique for planetary rover

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2009-04-01

Despite several past and present missions to Mars, very little information is available on its subsurface. One of the scientific objectives of the European ExoMars mission (ESA) is to characterize the water / geochemical environment as a function of depth and investigate the planet subsurface to better understand the evolution and habitability of the planet. The electromagnetic survey of subsurface will provide a nondestructive way to probe the subsurface and look for potential deep liquid water reservoirs. The LATMOS (ex CETP) is currently developing a ground penetrating radar (GPR) called EISS "Electromagnetic Investigation of the Sub Surface", which is a enhanced version of the TAPIR "Terrestrial and Planetary Imaging Radar", developed in the frame of the Netlander mission cancelled in 2004. The GPR main objective is to perform sounding of the sub-surface down to kilometric depth. EISS is an impulse GPR operating, from the Martian surface, at HF frequencies (~ 2-4MHz) with a wide bandwidth (100kHz-5MHz). EISS can operate in four modes: impedance measurement, mono and bi-static survey, passive mode. The EISS innovative concept is based on the use of the fixed station (Lander) and mobile rover to conduct subsurface surveys of the area visited by the Rover. The work at HF frequencies, EISS uses a half-wave resistively loaded dipole electrical antenna i.e. two monopoles 35 meters long each to transmit (and also receive in mono-static mode) the signal. The resistive profile of the antenna follows a Wu-King profile which is optimized to transmit the pulse without noticeable distortion and avoid ringing. The two monopoles will be deployed in roughly opposite directions on the surface of Mars. The exact value of the direction of deployment for each monopole will be chosen in order to minimize the contact with the Lander structure, avoid obstacles and the solar panels still ensuring a good coverage of the whole area. In bi-static mode, the signal is received with a small magnetic sensor accommodated on the Rover. As a consequence, since the direction that the rover will follow after its egress will not be know until the Lander is on Mars, it is essential to chose a configuration that will result in a radiation pattern compatible with bi-static measurements whatever the direction of the rover is (within a distance of 1 kilometer). Studies based on electromagnetic simulations have been performed to check the impact of the angle between the two monopoles on the radiation pattern. Study of EISS performances is ongoing using numerical modeling and experimental verifications. We use numerical simulation (FDTD code), analytical models and data processing algorithms to determine the performances of each operating mode and to prepare data interpretation. The subsurface survey requires knowledge of the permittivity of the studied sub-surface layers to convert the measured propagation delay into distance. Access to electrical characteristics of ground without return samples and in situ analysis is unusual in space missions and aroused great interest. Results will be presented about different ways EISS can provide estimation of the electrical properties of the shallow subsurface. Simulations that highlight the impact of the chosen resistive profile and of the angle between the two deployed monopoles will be shown. The presentation will mainly be focused on the bi-static mode that greatly improves the 3D representation of subsurface structure and on the associated instrumental requirements such as the perfect synchronization of the two part of the instrument. A method to retrieve the direction of arrival for each detected echo will be presented that allows a more accurate sub-surface mapping. Only the three magnetic field components are required to implement it, which makes the EISS configuration particularly interesting. This method is based on the orthogonality between the propagation vector and the polarization plane.

The Spirit Rover's Athena science investigation at Gusev Crater, Mars

NASA Technical Reports Server (NTRS)

Squyres, S. W.; Arvidson, R. E.; Bell, J. F., III; Brueckner, J.; Cabrol, N. A.; Calvin, W.; Carr, M. H.; Christensen, P. R.; Clark, B. C.; Crumpler, L.;

The Spirit Rover's Athena science investigation at Gusev crater, Mars

USGS Publications Warehouse

Squyres, S. W.; Arvidson, R. E.; Bell, J.F.; Brückner, J.; Cabrol, N.A.; Calvin, W.; Carr, M.H.; Christensen, P.R.; Clark, B. C.; Crumpler, L.; Des Marais, D.J.; D'Uston, C.; Economou, T.; Farmer, J.; Farrand, W.; Folkner, W.; Golombek, M.; Gorevan, S.; Grant, J. A.; Greeley, R.; Grotzinger, J.; Haskin, L.; Herkenhoff, K. E.; Hviid, S.; Johnson, J.; Klingelhofer, G.; Knoll, A.; Landis, G.; Lemmon, M.; Li, R.; Madsen, M.B.; Malin, M.C.; McLennan, S.M.; McSween, H.Y.; Ming, D. W.; Moersch, J.; Morris, R.V.; Parker, T.; Rice, J. W.; Richter, L.; Rieder, R.; Sims, M.; Smith, M.; Smith, P.; Soderblom, L.A.; Sullivan, R.; Wanke, H.; Wdowiak, T.; Wolff, M.; Yen, A.

2004-01-01

The Mars Exploration Rover Spirit and its Athena science payload have been used to investigate a landing site in Gusev crater. Gusev is hypothesized to be the site of a former take, but no clear evidence for lacustrine sedimentation has been found to date. Instead, the dominant lithology is basalt, and the dominant geologic processes are impact events and eolian transport. Many rocks exhibit coatings and other characteristics that may be evidence for minor aqueous alteration. Any lacustrine sediments that may exist at this location within Gusev apparently have been buried by lavas that have undergone subsequent impact disruption.

KSC-03pd1249

NASA Image and Video Library

2003-04-25

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

KSC-03pd1250

NASA Image and Video Library

2003-04-25

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

KSC-03pd1251

NASA Image and Video Library

2003-04-25

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

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.

Crane Lowers Aeroshell

NASA Technical Reports Server (NTRS)

2003-01-01

January 31, 2003

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

KSC-03pd1221

NASA Image and Video Library

2003-04-23

KENNEDY SPACE CENTER, FLA. - The Mars Exploration Rover 2 (MER-A) is ready for final closure of the petals on the lander. The lander and rover will be enclosed within an aeroshell for launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA's two Mars Exploration Rover missions is scheduled no earlier than June 6.

KSC-03pd0771

NASA Image and Video Library

2003-03-20

KENNEDY SPACE CENTER, Fla. - The solar arrays on the Mars Exploration Rover-2 (MER-2) are fully opened during a test in the Payload Hazardous Servicing Facility. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

KSC-03pd0957

NASA Image and Video Library

2003-04-02

KENNEDY SPACE CENTER, FLA. - The Mars Exploration Rover 1 (MER-1) is seen in the foreground after the science boom was deployed. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0909

NASA Image and Video Library

2003-03-29

KENNEDY SPACE CENTER, FLA. - Workers gather around the Mars Exploration Rover 2 (MER-2) before flight stow of the solar panels, still extended. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0232

NASA Image and Video Library

2003-01-31

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

KSC-03pd0913

NASA Image and Video Library

2003-03-29

KENNEDY SPACE CENTER, FLA. - Workers begin closing the solar panels on the Mars Exploration Rover 2 (MER-2) for flight stow. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0438

NASA Image and Video Library

2003-02-04

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

KSC-03pd0230

NASA Image and Video Library

2003-01-31

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

KSC-03pd0768

NASA Image and Video Library

2003-03-20

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

KSC-03pd0786

NASA Image and Video Library

2003-03-21

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

KSC-03pd0234

NASA Image and Video Library

2003-01-31

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

KSC-03pd0457

NASA Image and Video Library

2003-02-06

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

KSC-03pd0439

NASA Image and Video Library

2003-02-04

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

KSC-03pd0236

NASA Image and Video Library

2003-01-31

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

KSC-03pd0235

NASA Image and Video Library

2003-01-31

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

KSC-03pd0955

NASA Image and Video Library

2003-04-02

KENNEDY SPACE CENTER, FLA. - A worker examines the Mars Exploration Rover 1 (MER-1) after the science boom was deployed. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0911

NASA Image and Video Library

2003-03-29

KENNEDY SPACE CENTER, FLA. - A worker checks a component of the Mars Exploration Rover 2 (MER-2) before flight stow of the solar panels, still extended. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0886

NASA Image and Video Library

2003-03-28

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, the Mars Exploration Rover-2 (MER-2) rests on the base petal of its lander assembly. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover, a window opening June 25.

KSC-03pd0958

NASA Image and Video Library

2003-04-02

KENNEDY SPACE CENTER, FLA. - On the Mars Exploration Rover 1 (MER-1), the science boom, below the front petal, is deployed. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0910

NASA Image and Video Library

2003-03-29

KENNEDY SPACE CENTER, FLA. - Workers make additional checks of the Mars Exploration Rover 2 (MER-2) before flight stow of the solar panels, still extended. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0793

NASA Image and Video Library

2003-03-21

KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, the Mars Exploration Rover-2 (MER-2) rolls over ramps to test its mobility and maneuverability. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0914

NASA Image and Video Library

2003-03-29

KENNEDY SPACE CENTER, FLA. - After closing the solar panels for flight stow, workers examine the Mars Exploration Rover 2 (MER-2). Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

Arusha Rover Deployable Medical Workstation

NASA Technical Reports Server (NTRS)

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

2014-01-01

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

Mars rover 1988 concepts

NASA Technical Reports Server (NTRS)

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

1989-01-01

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

Lunar Prospecting Using Thermal Wadis and Compact Rovers. Part A; Infrastructure for Surviving the Lunar Night

NASA Technical Reports Server (NTRS)

Sacksteder, Kurt R.; Wegeng, Robert S.; Suzuki, Nantel H.

2012-01-01

Recent missions have confirmed the existence of water and other volatiles on the Moon, both in permanently-shadowed craters and elsewhere. Non-volatile lunar resources may represent significant additional value as infrastructure or manufacturing feedstock. Characterization of lunar resources in terms of abundance concentrations, distribution, and recoverability is limited to in-situ Apollo samples and the expanding remote-sensing database. This paper introduces an approach to lunar resource prospecting supported by a simple lunar surface infrastructure based on the Thermal Wadi concept of thermal energy storage and using compact rovers equipped with appropriate prospecting sensors and demonstration resource extraction capabilities. Thermal Wadis are engineered sources of heat and power based on the storage and retrieval of solar-thermal energy in modified lunar regolith. Because Thermal Wadis keep compact prospecting rovers warm during periods of lunar darkness, the rovers are able to survive months to years on the lunar surface rather than just weeks without being required to carry the burdensome capability to do so. The resulting lower-cost, long-lived rovers represent a potential paradigm breakthrough in extra-terrestrial prospecting productivity and will enable the production of detailed resource maps. Integrating resource processing and other technology demonstrations that are based on the content of the resource maps will inform engineering economic studies that can define the true resource potential of the Moon. Once this resource potential is understood quantitatively, humans might return to the Moon with an economically sound objective including where to go, what to do upon arrival, and what to bring along.

Curiosity Self-Portrait at Martian Sand Dune

NASA Image and Video Library

2016-01-29

This self-portrait of NASA's Curiosity Mars rover shows the vehicle at "Namib Dune," where the rover's activities included scuffing into the dune with a wheel and scooping samples of sand for laboratory analysis. The scene combines 57 images taken on Jan. 19, 2016, during the 1,228th Martian day, or sol, of Curiosity's work on Mars. The camera used for this is the Mars Hand Lens Imager (MAHLI) at the end of the rover's robotic arm. Namib Dune is part of the dark-sand "Bagnold Dune Field" along the northwestern flank of Mount Sharp. Images taken from orbit have shown that dunes in the Bagnold field move as much as about 3 feet (1 meter) per Earth year. The location of Namib Dune is show on a map of Curiosity's route at http://mars.nasa.gov/msl/multimedia/images/?ImageID=7640. The relationship of Bagnold Dune Field to the lower portion of Mount Sharp is shown in a map at PIA16064. The view does not include the rover's arm. Wrist motions and turret rotations on the arm allowed MAHLI to acquire the mosaic's component images. The arm was positioned out of the shot in the images, or portions of images, that were used in this mosaic. This process was used previously in acquiring and assembling Curiosity self-portraits taken at sample-collection sites, including "Rocknest" (PIA16468), "Windjana" (PIA18390) and "Buckskin" (PIA19807). For scale, the rover's wheels are 20 inches (50 centimeters) in diameter and about 16 inches (40 centimeters) wide. Other Curiosity self-portraits are available at http://photojournal.jpl.nasa.gov/catalog/PIA20316

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.

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

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

Design of a Mars rover and sample return mission

NASA Technical Reports Server (NTRS)

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

1990-01-01

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

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.

Lunar rovers and local positioning system

NASA Astrophysics Data System (ADS)

Avery, James; Su, Renjeng

1991-11-01

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

Lunar rovers and local positioning system

NASA Technical Reports Server (NTRS)

Avery, James; Su, Renjeng

1991-01-01

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running. The rover system is able to perform simple tasks such as sensing and signaling; coordination systems which allow construction tasks to begin were established, and soon coordinated teams of robots in the laboratory will be able to manipulate common objects.

Formal Multilevel Hierarchical Verification of Synchronous MOS VLSI Circuits.

DTIC Science & Technology

1987-06-01

166 12.4 Capacitance Coupling............................. 166 12.5 Multiple Abstraction Fuctions ....................... 168...depend on whether it is performing flat verification or hierarchical verification. The primary operations of Silica Pithecus when performing flat...signals never arise. The primary operation of Silica Pithecus when performing hierarchical verification is processing constraints to show they hold

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.

Enabling Autonomous Rover Science through Dynamic Planning and Scheduling

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

Opportunity Rover Views Ground Texture 'Perseverance Valley'

NASA Image and Video Library

2018-02-15

This late-afternoon view from the front Hazard Avoidance Camera on NASA's Mars Exploration Rover Opportunity shows a pattern of rock stripes on the ground, a surprise to scientists on the rover team. Approaching the 5,000th Martian day or sol, of what was planned as a 90-sol mission, Opportunity is still providing new discoveries. This image was taken inside "Perseverance Valley," on the inboard slope of the western rim of Endeavour Crater, on Sol 4958 (Jan. 4, 2018). Both this view and one taken the same sol by the rover's Navigation Camera look downhill toward the northeast from about one-third of the way down the valley, which extends about the length of two football fields from the crest of the rim toward the crater floor. The lighting, with the Sun at a low angle, emphasizes the ground texture, shaped into stripes defined by rock fragments. The stripes are aligned with the downhill direction. The rock to the upper right of the rover's robotic arm is about 2 inches (5 centimeters) wide and about 3 feet (1 meter) from the centerline of the rover's two front wheels. This striped pattern resembles features seen on Earth, including on Hawaii's Mauna Kea, that are formed by cycles of freezing and thawing of ground moistened by melting ice or snow. There, fine-grained fraction of the soil expands as it freezes, and this lifts the rock fragments up and to the sides. If such a process formed this pattern in Perseverance Valley, those conditions might have been present locally during a period within the past few million years when Mars' spin axis was at a greater tilt than it is now, and some of the water ice now at the poles was redistributed to lower latitudes. Other hypotheses for how these features formed are also under consideration, including high-velocity slope winds. https://photojournal.jpl.nasa.gov/catalog/PIA22218

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

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

EXPLORING MARS WITH SOLAR-POWERED ROVERS

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.

2006-01-01

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

Mars Rover Sample Return mission study

NASA Technical Reports Server (NTRS)

Bourke, Roger D.

1989-01-01

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

Automated Planning and Scheduling for Planetary Rover Distributed Operations

NASA Technical Reports Server (NTRS)

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

1999-01-01

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

KSC-03pd0883

NASA Image and Video Library

2003-03-28

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers adjust the position of the Mars Exploration Rover-2 (MER-2) on the base petal of its lander assembly. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover, a window opening June 25.

KSC-03pd1224

NASA Image and Video Library

2003-04-23

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

KSC-03pd0795

NASA Image and Video Library

2003-03-21

KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, workers watch as the Mars Exploration Rover-2 (MER-2) rolls over ramps to test its mobility and maneuverability. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd1225

NASA Image and Video Library

2003-04-23

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

KSC-03pd0791

NASA Image and Video Library

2003-03-21

KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, workers watch as the Mars Exploration Rover-2 (MER-2) rolls over ramps to test its mobility and maneuverability. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0790

NASA Image and Video Library

2003-03-21

KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, workers watch as the Mars Exploration Rover-2 (MER-2) rolls over ramps to test its mobility and maneuverability. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0879

NASA Image and Video Library

2003-03-28

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers move the Mars Exploration Rover-2 (MER-2) into position over the base petal of its lander assembly. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover, a window opening June 25.

KSC-03pd0881

NASA Image and Video Library

2003-03-28

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers lower the Mars Exploration Rover-2 (MER-2) onto the base petal of its lander assembly. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover, a window opening June 25.

KSC-03pd0877

NASA Image and Video Library

2003-03-28

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers prepare the base petal of a lander assembly to receive the Mars Exploration Rover-2 (MER-2). Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover, a window opening June 25.

KSC-03pd0441

NASA Image and Video Library

2003-02-04

KENNEDY SPACE CENTER, FLA. - Shown are the Lander pedals for MER-1. These pedals fold up covering the Rover, which will be attached to the base pedal (not shown--empty spot in the center.) Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

KSC-03pd0878

NASA Image and Video Library

2003-03-28

KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers move the Mars Exploration Rover-2 (MER-2) towards the base petal of its lander assembly. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover, a window opening June 25.

KSC-03pd0233

NASA Image and Video Library

2003-01-31

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

Verification of Triple Modular Redundancy (TMR) Insertion for Reliable and Trusted Systems

NASA Technical Reports Server (NTRS)

Berg, Melanie; LaBel, Kenneth A.

2016-01-01

We propose a method for TMR insertion verification that satisfies the process for reliable and trusted systems. If a system is expected to be protected using TMR, improper insertion can jeopardize the reliability and security of the system. Due to the complexity of the verification process, there are currently no available techniques that can provide complete and reliable confirmation of TMR insertion. This manuscript addresses the challenge of confirming that TMR has been inserted without corruption of functionality and with correct application of the expected TMR topology. The proposed verification method combines the usage of existing formal analysis tools with a novel search-detect-and-verify tool. Field programmable gate array (FPGA),Triple Modular Redundancy (TMR),Verification, Trust, Reliability,

VIPER: Virtual Intelligent Planetary Exploration Rover

NASA Technical Reports Server (NTRS)

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

2001-01-01

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

Electrostatic Charging of the Pathfinder Rover

NASA Technical Reports Server (NTRS)

Siebert, Mark W.; Kolecki, Joseph C.

1996-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2007-11-01

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

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.

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

NASA Technical Reports Server (NTRS)

Trease, Brian; Arvidson, Raymond; Lindemann, Randel; Bennett, Keith; Zhou, Feng; Iagnemma, Karl; Senatore, Carmine; Van Dyke, Lauren

2011-01-01

To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover (MER) project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting tool, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction Simulator), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using MSC-Adams dynamic modeling software. Newly modeled terrain-rover interactions include the rut-formation effect of deformable soils, using the classical Bekker-Wong implementation of compaction resistances and bull-dozing effects. The paper presents the details and implementation of the model with two case studies based on actual MER telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.

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

NASA Image and Video Library

2015-08-19

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

Improvement in Visual Target Tracking for a Mobile Robot

NASA Technical Reports Server (NTRS)

Kim, Won; Ansar, Adnan; Madison, Richard

2006-01-01

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

KENNEDY SPACE CENTER, FLA. - The overhead crane settles the Mars Exploration Rover 2 (MER-2) entry vehicle onto a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - The overhead crane settles the Mars Exploration Rover 2 (MER-2) entry vehicle onto a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

49 CFR 40.135 - What does the MRO tell the employee at the beginning of the verification interview?

Code of Federal Regulations, 2010 CFR

2010-10-01

... beginning of the verification interview? 40.135 Section 40.135 Transportation Office of the Secretary of... verification interview? (a) As the MRO, you must tell the employee that the laboratory has determined that the... finding of adulteration or substitution. (b) You must explain the verification interview process to the...

Results of the Mars Exploration Rover Athena science investigation

NASA Astrophysics Data System (ADS)

Squyres, S. W.; Athena Science Team

2004-05-01

The Mars Exploration Rovers ``Spirit" and ``Opportunity" have performed missions of scientific exploration at Gusev Crater and Meridiani Planum on Mars. Their objective is to search for evidence of water activity at the two sites, and to assess the past habitability of the sites. The Gusev Crater site investigated by Spirit is a flat, rock-strewn plain. All rocks at the site investigated to date are olivine basalt. The rover has conducted a radial traverse through the ejecta blanket of the crater Bonneville. After investigation of this crater, the rover will continue its traverse toward the Columbia Hills, a range of hills over 100 m high approximately 2.5 km to the west. To date, no unambiguous evidence of aqueous activity has been found at the Gusev site. The lander carrying Opportunity came to rest in a 20-meter crater in Meridiani Planum. Exposed within this crater is a small outcrop of bedrock. The bedrock outcrop has been studied in detail, and shows compelling evidence for formation and alteration processes involving liquid water. This evidence includes (a) embedded hematite-rich spherules that appear to be concretions, (b) tabular voids with characteristics consistent with those of molds of crystals formed by precipitation from water, (c) extremely high sulfur content, suggesting a compositon of 30-40 salts by weight, (d) significant quantities of jarosite, (e) Cl/Br systematics similar to those of terrestrial evaporites, and (f) cross stratification indicative of deposition in a moving fluid environment, probably water. Precipitated minerals at the Meridiani site could be very effective at preserving evidence of conditions and processes in the aqueous environment there, making them an attractive potential target for future study.

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.

Comprehension of Spacecraft Telemetry Using Hierarchical Specifications of Behavior

NASA Technical Reports Server (NTRS)

Havelund, Klaus; Joshi, Rajeev

2014-01-01

A key challenge in operating remote spacecraft is that ground operators must rely on the limited visibility available through spacecraft telemetry in order to assess spacecraft health and operational status. We describe a tool for processing spacecraft telemetry that allows ground operators to impose structure on received telemetry in order to achieve a better comprehension of system state. A key element of our approach is the design of a domain-specific language that allows operators to express models of expected system behavior using partial specifications. The language allows behavior specifications with data fields, similar to other recent runtime verification systems. What is notable about our approach is the ability to develop hierarchical specifications of behavior. The language is implemented as an internal DSL in the Scala programming language that synthesizes rules from patterns of specification behavior. The rules are automatically applied to received telemetry and the inferred behaviors are available to ground operators using a visualization interface that makes it easier to understand and track spacecraft state. We describe initial results from applying our tool to telemetry received from the Curiosity rover currently roving the surface of Mars, where the visualizations are being used to trend subsystem behaviors, in order to identify potential problems before they happen. However, the technology is completely general and can be applied to any system that generates telemetry such as event logs.

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

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

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

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

A Vision System For A Mars Rover

NASA Astrophysics Data System (ADS)

Wilcox, Brian H.; Gennery, Donald B.; Mishkin, Andrew H.; Cooper, Brian K.; Lawton, Teri B.; Lay, N. Keith; Katzmann, Steven P.

1987-01-01

A Mars rover must be able to sense its local environment with sufficient resolution and accuracy to avoid local obstacles and hazards while moving a significant distance each day. Power efficiency and reliability are extremely important considerations, making stereo correlation an attractive method of range sensing compared to laser scanning, if the computational load and correspondence errors can be handled. Techniques for treatment of these problems, including the use of more than two cameras to reduce correspondence errors and possibly to limit the computational burden of stereo processing, have been tested at JPL. Once a reliable range map is obtained, it must be transformed to a plan view and compared to a stored terrain database, in order to refine the estimated position of the rover and to improve the database. The slope and roughness of each terrain region are computed, which form the basis for a traversability map allowing local path planning. Ongoing research and field testing of such a system is described.

A vision system for a Mars rover

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.; Gennery, Donald B.; Mishkin, Andrew H.; Cooper, Brian K.; Lawton, Teri B.; Lay, N. Keith; Katzmann, Steven P.

1988-01-01

A Mars rover must be able to sense its local environment with sufficient resolution and accuracy to avoid local obstacles and hazards while moving a significant distance each day. Power efficiency and reliability are extremely important considerations, making stereo correlation an attractive method of range sensing compared to laser scanning, if the computational load and correspondence errors can be handled. Techniques for treatment of these problems, including the use of more than two cameras to reduce correspondence errors and possibly to limit the computational burden of stereo processing, have been tested at JPL. Once a reliable range map is obtained, it must be transformed to a plan view and compared to a stored terrain database, in order to refine the estimated position of the rover and to improve the database. The slope and roughness of each terrain region are computed, which form the basis for a traversability map allowing local path planning. Ongoing research and field testing of such a system is described.

Mix of Particles in 'Uchben' Close-up

NASA Technical Reports Server (NTRS)

2004-01-01

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

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

Eye on 'Bounce'

NASA Technical Reports Server (NTRS)

2004-01-01

This mosaic, created from four images taken by the Mars Exploration Rover Opportunity's microscopic imager, outlines the target on 'Bounce' rock that the rover's rock abrasion tool will abrade on sol 66.

This 6-centimeter-square (2.4-inch-square) area was chosen by the rock abrasion tool team as the most advantageous area for grinding.

Preliminary results from the rover's miniature thermal emission spectrometer show that Bounce is rich in hematite. Bounce contains spherules, or 'blueberries,' like some rocks in the 'Eagle Crater' outcrop. However, Bounce's spherules appear smaller and may be formed by an entirely different process. The blueberries seen in the outcrop are typically 3 to 4 millimeters (0.12 to 0.16 inch) each. A good example of a cluster of micro-berries can be seen just left of center in this image. Scientists are currently studying all of the rock's features as well as its chemical content. After next sol's grinding operation, the team will be able to compare the rock's exterior and interior chemical compositions.

Study of sample drilling techniques for Mars sample return missions

NASA Technical Reports Server (NTRS)

Mitchell, D. C.; Harris, P. T.

1980-01-01

To demonstrate the feasibility of acquiring various surface samples for a Mars sample return mission the following tasks were performed: (1) design of a Mars rover-mounted drill system capable of acquiring crystalline rock cores; prediction of performance, mass, and power requirements for various size systems, and the generation of engineering drawings; (2) performance of simulated permafrost coring tests using a residual Apollo lunar surface drill, (3) design of a rock breaker system which can be used to produce small samples of rock chips from rocks which are too large to return to Earth, but too small to be cored with the Rover-mounted drill; (4)design of sample containers for the selected regolith cores, rock cores, and small particulate or rock samples; and (5) design of sample handling and transfer techniques which will be required through all phase of sample acquisition, processing, and stowage on-board the Earth return vehicle. A preliminary design of a light-weight Rover-mounted sampling scoop was also developed.

Mix of Particles in "Uchben" Close-up

NASA Image and Video Library

2004-11-04

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

Detection of Organic Constituents Including Chloromethylpropene in the Analyses of the ROCKNEST Drift by Sample Analysis at Mars (SAM)

NASA Technical Reports Server (NTRS)

Eigenbrode, J. L.; Glavin, D.; Coll, P.; Summons, R. E.; Mahaffy, P.; Archer, D.; Brunner, A.; Conrad, P.; Freissinet, C.; Martin, M.;

Software verification plan for GCS. [guidance and control software

NASA Technical Reports Server (NTRS)

Dent, Leslie A.; Shagnea, Anita M.; Hayhurst, Kelly J.

1990-01-01

This verification plan is written as part of an experiment designed to study the fundamental characteristics of the software failure process. The experiment will be conducted using several implementations of software that were produced according to industry-standard guidelines, namely the Radio Technical Commission for Aeronautics RTCA/DO-178A guidelines, Software Consideration in Airborne Systems and Equipment Certification, for the development of flight software. This plan fulfills the DO-178A requirements for providing instructions on the testing of each implementation of software. The plan details the verification activities to be performed at each phase in the development process, contains a step by step description of the testing procedures, and discusses all of the tools used throughout the verification process.

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

NASA Image and Video Library

2003-06-10

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

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

NASA Image and Video Library

2003-05-10

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

Generic Protocol for the Verification of Ballast Water Treatment Technology. Version 5.1

DTIC Science & Technology

2010-09-01

the Protocol ..................................................................................... 2 1.4 Verification Testing Process ...Volumes, Containers and Processing .................................................................38 Table 10. Recommendation for Water...or persistent distortion of a measurement process that causes errors in one direction. Challenge Water: Water supplied to a treatment system under

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.

Separating stages of arithmetic verification: An ERP study with a novel paradigm.

PubMed

Avancini, Chiara; Soltész, Fruzsina; Szűcs, Dénes

2015-08-01

In studies of arithmetic verification, participants typically encounter two operands and they carry out an operation on these (e.g. adding them). Operands are followed by a proposed answer and participants decide whether this answer is correct or incorrect. However, interpretation of results is difficult because multiple parallel, temporally overlapping numerical and non-numerical processes of the human brain may contribute to task execution. In order to overcome this problem here we used a novel paradigm specifically designed to tease apart the overlapping cognitive processes active during arithmetic verification. Specifically, we aimed to separate effects related to detection of arithmetic correctness, detection of the violation of strategic expectations, detection of physical stimulus properties mismatch and numerical magnitude comparison (numerical distance effects). Arithmetic correctness, physical stimulus properties and magnitude information were not task-relevant properties of the stimuli. We distinguished between a series of temporally highly overlapping cognitive processes which in turn elicited overlapping ERP effects with distinct scalp topographies. We suggest that arithmetic verification relies on two major temporal phases which include parallel running processes. Our paradigm offers a new method for investigating specific arithmetic verification processes in detail. Copyright © 2015 Elsevier Ltd. All rights reserved.

Delivering Images for Mars Rover Science Planning

NASA Technical Reports Server (NTRS)

Edmonds, Karina

2008-01-01

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

KSC-03pd0980

NASA Image and Video Library

2003-04-04

KENNEDY SPACE CENTER, FLA. - Workers prepare the shrouded Mars Exploration Rover 2 (MER-2) for mating to the lander. Set to launch in Spring 2003, the MER Mission consists of two identical rovers, landing at different regions of Mars, designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

Cutting the Cord

NASA Technical Reports Server (NTRS)

2004-01-01

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

Cutting the Cord-2

NASA Technical Reports Server (NTRS)

2004-01-01

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

Rover Tracks

NASA Image and Video Library

1997-07-07

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

Targeting and Localization for Mars Rover Operations

NASA Technical Reports Server (NTRS)

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

2006-01-01

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

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

Process Document, Joint Verification Protocol, and Joint Test Plan for Verification of HACH-LANGE GmbH LUMIStox 300 Bench Top Luminometer and ECLOX Handheld Luminometer for Luminescent Bacteria Test for use in Wastewater

EPA Science Inventory

The Danish Environmental Technology Verification program (DANETV) Water Test Centre operated by DHI, is supported by the Danish Ministry for Science, Technology and Innovation. DANETV, the United States Environmental Protection Agency Environmental Technology Verification Progra...

49 CFR 236.903 - Definitions.

Code of Federal Regulations, 2010 CFR

2010-10-01

... the site-specific application programs, run timers, read inputs, drive outputs, perform self... validation process is to determine “whether the correct product was built.” Verification means the process of... established at the start of that phase. The goal of the verification process is to determine “whether the...

48 CFR 4.1300 - Scope of subpart.

Code of Federal Regulations, 2010 CFR

2010-10-01

... ADMINISTRATIVE MATTERS Personal Identity Verification 4.1300 Scope of subpart. This subpart provides policy and procedures associated with Personal Identity Verification as required by— (a) Federal Information Processing Standards Publication (FIPS PUB) Number 201, “Personal Identity Verification of Federal Employees and...

IMPROVING AIR QUALITY THROUGH ENVIRONMENTAL TECHNOLOGY VERIFICATIONS

EPA Science Inventory

The U.S. Environmental Protection Agency (EPA) began the Environmental Technology Verification (ETV) Program in 1995 as a means of working with the private sector to establish a market-based verification process available to all environmental technologies. Under EPA's Office of R...

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.

Tracking Sunspots from Mars, April 2015 Animation

NASA Image and Video Library

2015-07-10

This single frame from a sequence of six images of an animation shows sunspots as viewed by NASA Curiosity Mars rover from April 4 to April 15, 2015. From Mars, the rover was in position to see the opposite side of the sun. The images were taken by the right-eye camera of Curiosity's Mast Camera (Mastcam), which has a 100-millimeter telephoto lens. The view on the left of each pair in this sequence has little processing other than calibration and putting north toward the top of each frame. The view on the right of each pair has been enhanced to make sunspots more visible. The apparent granularity throughout these enhanced images is an artifact of this processing. These sunspots seen in this sequence eventually produced two solar eruptions, one of which affected Earth. http://photojournal.jpl.nasa.gov/catalog/PIA19802

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.

Mudstone Mineralogy from Curiosity CheMin, 2013 to 2016

NASA Image and Video Library

2016-12-13

This series of pie charts shows similarities and differences in the mineral compositions of mudstones at 10 sites where NASA's Curiosity Mars rover collected rock-powder samples and analyzed them with the rover's Chemistry and Mineralogy (CheMin) instrument. The charts are arrayed in chronological order, with an indication of relative elevation as the rover first sampled two sites on the floor of Gale Crater in 2013 and later began climbing the crater's central mound, Mount Sharp. The pie chart farthest to the right and uphill shows composition at the "Sebina" target, sampled in October 2016. Five non-mudstone rock targets that the rover drilled and analyzed within this time frame are not included. The mineralogical variations in these mudstones may be due to differences in any or all of these factors: the source materials deposited by water that entered lakes, the processes of sedimentation and rock forming, and how the rocks were later altered. One trend that stands out is that the mineral jarosite -- shown in purple -- was more prominent in the "Pahrump Hills" area of lower Mount Sharp than at sites examined either earlier or later. Jarosite is an indicator of acidic water. Mudstone layers uphill from Pahrump Hills have barely detectable amounts of jarosite, indicating a shift away from acidic conditions in these overlying -- thus younger -- layers. Clay minerals, shown as green, declined in abundance at sites midway through this series, then came back as the rover climbed higher. Each drilled-and-analyzed target is identified with a two-letter abbreviation: JK for "John Klein," CB for "Cumberland." CH for "Confidence Hills," MJ for "Mojave," TP for "Telegraph Peak," BK for "Buckskin," OD for "Oudam," MB for "Marimba," QL for "Quela," and SB for Sebina. http://photojournal.jpl.nasa.gov/catalog/PIA21146

A Rover Concept for Exploring the Surface of Titan

NASA Astrophysics Data System (ADS)

Balint, T. S.; Shirley, J. H.; Schriener, T. M.

2005-12-01

Titan is one of the premier targets for future in-situ exploration in the outer solar system, as unique "pre-biotic" organic chemical processes may be presently occurring at its surface. A mission to the surface of Titan is not as technically difficult as one to Europa; Titan's atmosphere allows for aerobraking descents, the radiation environment is not a mission-critical factor, and the organic materials we want to sample should be widely distributed (and easily accessible). The recent Titan landing by the Huygens Probe has focused considerable scientific interest on this remarkable body, and future missions to Titan are under consideration. We evaluated a Titan Rover mission concept that would have the capability to survive on Titan's surface for a period of 3 terrestrial years. This long mission lifetime is enabled by employing a radioisotope power system (RPS). To minimize costs and use as much flight heritage as possible, we began by assuming that system masses, dimensions, and instrumentation would be comparable to those of the Mars Surface Lander (MSL). We found that a rover configuration with a 110 W (electric) power system and four 1.5 m diameter inflatable wheels could potentially enable traverse distances up to ~500 km, depending on science and mission requirements, surface environments, and the capability of the autonomous navigation system employed. Direct to Earth communication would simplify the mission by removing the need for a relay orbiter. We will describe our strawman instrument payload and rover subsystems. Trades between the potentially available RPS systems (RTG, Advanced RTG, TPV, SRG, Advanced Stirling and Brayton RPSs) will be outlined. While many possible approaches exist for Titan in-situ exploration, the Titan rover concept presented here could provide a scientifically interesting and programmatically affordable solution.

The Bagnold Dunes in Southern Summer: Active Sediment Transport on Mars Observed by the Curiosity rover

NASA Astrophysics Data System (ADS)

Baker, M. M.; Lapotre, M. G. A.; Bridges, N. T.; Minitti, M. E.; Newman, C. E.; Ehlmann, B. L.; Vasavada, A. R.; Edgett, K. S.; Lewis, K. W.

2017-12-01

Since its landing at Gale crater five years ago, the Curiosity rover has provided us with unparalleled data to study active surface processes on Mars. Repeat imaging campaigns (i.e. "change-detection campaigns") conducted with the rover's cameras have allowed us to study Martian atmosphere-surface interactions and characterize wind-driven sediment transport from ground-truth observations. Utilizing the rover's periodic stops to image identical patches of ground over multiple sols, these change-detection campaigns have revealed sediment motion over a wide range of grain sizes. These results have been corroborated in images taken by the rover's hand lens imager (MAHLI), which have captured sand transport occurring on the scale of minutes. Of particular interest are images collected during Curiosity's traverse across the Bagnold Dune Field, the first dune field observed to be active in situ on another planet. Curiosity carried out the first phase of the Bagnold Dunes campaign (between Ls 72º and 109º) along the northern edge of the dune field at the base of Aeolis Mons, where change-detection images showed very limited sediment motion. More recently, a second phase of the campaign was conducted along the southern edge of the dune field between Ls 312º to 345º; here, images captured extensive wind-driven sand motion. Observations from multiple cameras show ripples migrating to the southwest, in agreement with predicted net transport within the dune field. Together with change-detection observations conducted outside of the dune field, the data show that ubiquitous Martian landscapes are seasonally active within Gale crater, with the bulk of the sediment flux occurring during southern summer.

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.

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

NASA Astrophysics Data System (ADS)

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

2016-04-01

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

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

NASA Image and Video Library

2003-04-28

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

Superficial Deposits at Gusev Crater Along Spirit Rover Traverses

NASA Technical Reports Server (NTRS)

Grant, J. A.; Arvidson, R.; Bell, J. F., III; Cabrol, N. A.; Carr, M. H.; Christensen, P.; Crumpler, L.; DesMarsais, D.; Ehlmann, B. L.; Ming, Douglas W.

2004-01-01

The Mars Exploration Rover Spirit has traversed a fairly flat, rock-strewn terrain whose surface is shaped primarily by impact events, although some of the landscape has been altered by eolian processes.Impacts ejected basaltic rocks that probably were part of locally formed lava flows from at least 10 meters depth.Some rocks have been textured and/or partially buried by windblown sediments less than 2 millimeters in diameter that concentrate within shallow, partially filled, circular impact depressions referred to as hollows.The terrain traversed during the 90-sol (martian solar day) nominal mission shows no evidence for an ancient lake in Gusev crater.

Door to 'Pilbara'

NASA Technical Reports Server (NTRS)

2004-01-01

This mosaic of five images taken by the microscopic imager on the Mars Exploration Rover Opportunity on sol 87 shows the hole drilled by the rover's rock abrasion tool into the rock dubbed 'Pilbara.' A sliced 'blueberry,' or spherule, which is darker and harder than the rest of the rock, can be seen near the center of the hole. The rock abrasion process left a pile of rock powder around the side of the hole, and to a lesser degree, inside the hole. The grinding penetrated an area of rock about 7.2 millimeters (about 0.28 inches) deep and 4.5 centimeters (about 1.8 inches) in diameter.

Stack of Layers at 'Payson' in Meridiani Planum

NASA Technical Reports Server (NTRS)

2006-01-01

The stack of fine layers exposed at a ledge called 'Payson' on the western edge of 'Erebus Crater' in Mars' Meridiani Planum shows a diverse range of primary and secondary sedimentary textures formed billions of years ago. These structures likely result from an interplay between windblown and water-involved processes.

The panoramic camera (Pancam) on NASA's Mars Exploration Rover Opportunity acquired the exposures for this image on the rover's 749th Martian day (March 3, 2006) This view is an approximately true-color rendering mathematically generated from separate images taken through all of the left Pancam's 432-nanometer to 753-nanometer filters.

Surficial deposits at Gusev crater along Spirit Rover traverses

USGS Publications Warehouse

Grant, J. A.; Arvidson, R.; Bell, J.F.; Cabrol, N.A.; Carr, M.H.; Christensen, P.; Crumpler, L.; Des Marais, D.J.; Ehlmann, B.L.; Farmer, J.; Golombek, M.; Grant, F.D.; Greeley, R.; Herkenhoff, K.; Li, R.; McSween, H.Y.; Ming, D. W.; Moersch, J.; Rice, J. W.; Ruff, S.; Richter, L.; Squyres, S.; Sullivan, R.; Weitz, C.

2004-01-01

The Mars Exploration Rover Spirit has traversed a fairly flat, rock-strewn terrain whose surface is shaped primarily by impact events, although some of the landscape has been altered by eolian processes. Impacts ejected basaltic rocks that probably were part of locally formed lava flows from at least 10 meters depth. Some rocks have been textured and/or partially buried by windblown sediments less than 2 millimeters in diameter that concentrate within shallow, partially filled, circular impact depressions referred to as hollows. The terrain traversed during the 90-sol (martian solar day) nominal mission shows no evidence for an ancient lake in Gusev crater.

'Laguna Hollow'Undisturbed

NASA Technical Reports Server (NTRS)

2004-01-01

This image shows the patch of soil at the bottom of the shallow depression dubbed 'Laguna Hollow' where the Mars Exploration Rover Spirit will soon begin trenching. Scientists are intrigued by the clustering of small pebbles and the crack-like fine lines, which indicate a coherent surface that expands and contracts. A number of processes can cause materials to expand and contract, including cycles of heating and cooling; freezing and thawing; and rising and falling of salty liquids within a substance. This false-color image was created using the blue, green and infrared filters of the rover's panoramic camera. Scientists chose this particular combination of filters to enhance the heterogeneity of the martian soil.

Verification of Triple Modular Redundancy Insertion for Reliable and Trusted Systems

NASA Technical Reports Server (NTRS)

Berg, Melanie; LaBel, Kenneth

2016-01-01

If a system is required to be protected using triple modular redundancy (TMR), improper insertion can jeopardize the reliability and security of the system. Due to the complexity of the verification process and the complexity of digital designs, there are currently no available techniques that can provide complete and reliable confirmation of TMR insertion. We propose a method for TMR insertion verification that satisfies the process for reliable and trusted systems.

Compositional Verification of a Communication Protocol for a Remotely Operated Vehicle

NASA Technical Reports Server (NTRS)

Goodloe, Alwyn E.; Munoz, Cesar A.

2009-01-01

This paper presents the specification and verification in the Prototype Verification System (PVS) of a protocol intended to facilitate communication in an experimental remotely operated vehicle used by NASA researchers. The protocol is defined as a stack-layered com- position of simpler protocols. It can be seen as the vertical composition of protocol layers, where each layer performs input and output message processing, and the horizontal composition of different processes concurrently inhabiting the same layer, where each process satisfies a distinct requirement. It is formally proven that the protocol components satisfy certain delivery guarantees. Compositional techniques are used to prove these guarantees also hold in the composed system. Although the protocol itself is not novel, the methodology employed in its verification extends existing techniques by automating the tedious and usually cumbersome part of the proof, thereby making the iterative design process of protocols feasible.

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

NASA Technical Reports Server (NTRS)

Wales, Roxana C.

2005-01-01

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

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.

KENNEDY SPACE CENTER, FLA. - An overhead crane lifts the Mars Exploration Rover 2 (MER-2) entry vehicle from its stand to move it to a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - An overhead crane lifts the Mars Exploration Rover 2 (MER-2) entry vehicle from its stand to move it to a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - With help from workers, the overhead crane lowers the Mars Exploration Rover 2 (MER-2) entry vehicle onto a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - With help from workers, the overhead crane lowers the Mars Exploration Rover 2 (MER-2) entry vehicle onto a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - An overhead crane moves the Mars Exploration Rover 2 (MER-2) entry vehicle across the Payload Hazardous Servicing Facility toward a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - An overhead crane moves the Mars Exploration Rover 2 (MER-2) entry vehicle across the Payload Hazardous Servicing Facility toward a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility help guide the Mars Exploration Rover 2 (MER-2) entry vehicle toward a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility help guide the Mars Exploration Rover 2 (MER-2) entry vehicle toward a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - An overhead crane is in place to lift the Mars Exploration Rover 2 (MER-2) entry vehicle to move it to a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - An overhead crane is in place to lift the Mars Exploration Rover 2 (MER-2) entry vehicle to move it to a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

Authoring and verification of clinical guidelines: a model driven approach.

PubMed

Pérez, Beatriz; Porres, Ivan

2010-08-01

The goal of this research is to provide a framework to enable authoring and verification of clinical guidelines. The framework is part of a larger research project aimed at improving the representation, quality and application of clinical guidelines in daily clinical practice. The verification process of a guideline is based on (1) model checking techniques to verify guidelines against semantic errors and inconsistencies in their definition, (2) combined with Model Driven Development (MDD) techniques, which enable us to automatically process manually created guideline specifications and temporal-logic statements to be checked and verified regarding these specifications, making the verification process faster and cost-effective. Particularly, we use UML statecharts to represent the dynamics of guidelines and, based on this manually defined guideline specifications, we use a MDD-based tool chain to automatically process them to generate the input model of a model checker. The model checker takes the resulted model together with the specific guideline requirements, and verifies whether the guideline fulfils such properties. The overall framework has been implemented as an Eclipse plug-in named GBDSSGenerator which, particularly, starting from the UML statechart representing a guideline, allows the verification of the guideline against specific requirements. Additionally, we have established a pattern-based approach for defining commonly occurring types of requirements in guidelines. We have successfully validated our overall approach by verifying properties in different clinical guidelines resulting in the detection of some inconsistencies in their definition. The proposed framework allows (1) the authoring and (2) the verification of clinical guidelines against specific requirements defined based on a set of property specification patterns, enabling non-experts to easily write formal specifications and thus easing the verification process. Copyright 2010 Elsevier Inc. All rights reserved.

Design of a wheeled articulating land rover

NASA Technical Reports Server (NTRS)

Stauffer, Larry; Dilorenzo, Mathew; Yandle, Barbara

1994-01-01

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

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

NASA Technical Reports Server (NTRS)

Klarer, Paul R.

1992-01-01

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

KSC-03pd0536

NASA Image and Video Library

2003-02-24

KENNEDY SPACE CENTER, FLA. -- The cruise stage, aeroshell and lander for the Mars Exploration Rover-1 mission and the MER-2 rover arrive at KSC. The same flight hardware for the MER-2 rover arrived Jan. 27; however, the MER-2 rover is scheduled to arrive at KSC in March. While at KSC, each of the two rovers, the aeroshells and the landers will undergo a full mission simulation. All of these flight elements will then be integrated together. After spin balance testing, each spacecraft will be mated to a solid propellant upper stage booster that will propel the spacecraft out of Earth orbit. Approximately 10 days before launch they will be transported to the launch pad for mating with their respective Boeing Delta II rockets. The rovers will serve as robotic geologists to seek answers about the evolution of Mars, particularly for a history of water. The rovers will be identical to each other, but will land at different regions of Mars. Launch of the MER-1 is scheduled for May 30. MER-2 will follow June 25.

The Verification-based Analysis of Reliable Multicast Protocol

NASA Technical Reports Server (NTRS)

Wu, Yunqing

1996-01-01

Reliable Multicast Protocol (RMP) is a communication protocol that provides an atomic, totally ordered, reliable multicast service on top of unreliable IP Multicasting. In this paper, we develop formal models for R.W using existing automatic verification systems, and perform verification-based analysis on the formal RMP specifications. We also use the formal models of RW specifications to generate a test suite for conformance testing of the RMP implementation. Throughout the process of RMP development, we follow an iterative, interactive approach that emphasizes concurrent and parallel progress between the implementation and verification processes. Through this approach, we incorporate formal techniques into our development process, promote a common understanding for the protocol, increase the reliability of our software, and maintain high fidelity between the specifications of RMP and its implementation.

Mars Atmosphere Resource Verification INsitu (MARVIN) - In Situ Resource Demonstration for the Mars 2020 Mission

NASA Technical Reports Server (NTRS)

Sanders, Gerald B.; Araghi, Koorosh; Ess, Kim M.; Valencia, Lisa M.; Muscatello, Anthony C.; Calle, Carlos I.; Clark, Larry; Iacomini, Christie

2014-01-01

The making of oxygen from resources in the Martian atmosphere, known as In Situ Resource Utilization (ISRU), has the potential to provide substantial benefits for future robotic and human exploration. In particular, the ability to produce oxygen on Mars for use in propulsion, life support, and power systems can provide significant mission benefits such as a reducing launch mass, lander size, and mission and crew risk. To advance ISRU for possible incorporation into future human missions to Mars, NASA proposed including an ISRU instrument on the Mars 2020 rover mission, through an announcement of opportunity (AO). The purpose of the the Mars Atmosphere Resource Verification INsitu or (MARVIN) instrument is to provide the first demonstration on Mars of oxygen production from acquired and stored Martian atmospheric carbon dioxide, as well as take measurements of atmospheric pressure and temperature, and of suspended dust particle sizes and amounts entrained in collected atmosphere gases at different times of the Mars day and year. The hardware performance and environmental data obtained will be critical for future ISRU systems that will reduce the mass of propellants and other consumables launched from Earth for robotic and human exploration, for better understanding of Mars dust and mitigation techniques to improve crew safety, and to help further define Mars global circulation models and better understand the regional atmospheric dynamics on Mars. The technologies selected for MARVIN are also scalable for future robotic sample return and human missions to Mars using ISRU.

Establishing and Monitoring an Aseptic Workspace for Building the MOMA Mass Spectrometer

NASA Technical Reports Server (NTRS)

Lalime, Erin

2016-01-01

Mars Organic Molecule Analyzer (MOMA) is an instrument suite on the ESA ExoMars 2018 Rover, and the Mass Spectrometer (MOMA-MS) is being built at Goddard Space Flight Center (GSFC). As MOMA-MS is a life-detection instrument and it thus falls in the most stringent category of Planetary Protection (PP) biological cleanliness requirements. Less than 0.03 sporem2 is allowed in the instrument sample path. In order to meet these PP requirements, MOMA-MS must be built and maintained in a low bioburden environment. The MOMA-MS project at GSFC maintains three cleanrooms with varying levels of bioburden control. The Aseptic Assembly Cleanroom has the highest level of control, applying three different bioburden reducing methods: 70 IPA, 7.5 Hydrogen Peroxide, and Ultra-Violet C light. The three methods are used in rotation and each kills microbes by a different mechanism, reducing the likelihood of microorganisms developing resistance to all three. The Integration and Mars Chamber Cleanrooms use less biocidal cleaning, with the option to deploy extra techniques as necessary. To support the monitoring of cleanrooms and verification that MOMA-MS hardware meets PP requirements, a new Planetary Protection lab was established that currently has the capabilities of standard growth assays for spore or vegetative bacteria, rapid bioburden analysis that detects Adenosine Triphosphate (ATP), plus autoclave and DHMR verification. The cleanrooms are monitored both for vegetative microorganisms and by rapid ATP assay, and a clear difference in bioburden is observed between the aseptic the other cleanroom.

After Opportunity's First Drive in Six Weeks

NASA Technical Reports Server (NTRS)

2007-01-01

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

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

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

Computer-Design Drawing for NASA 2020 Mars Rover

NASA Image and Video Library

2016-07-15

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

Self-Directed Cooperative Planetary Rovers

NASA Technical Reports Server (NTRS)

Zilberstein, Shlomo; Morris, Robert (Technical Monitor)

2003-01-01

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

The University Rover Challenge: A competition highlighting Human and Robotic partnerships for exploration

NASA Astrophysics Data System (ADS)

Smith, Heather; Duncan, Andrew

2016-07-01

The University Rover Challenge began in 2006 with 4 American college teams competing, now in it's 10th year there are 63 teams from 12 countries registered to compete for the top rover designed to assist humans in the exploration of Mars. The Rovers compete aided by the University teams in four tasks (3 engineering and 1 science) in the Mars analog environment of the Utah Southern Desert in the United States. In this presentation we show amazing rover designs with videos demonstrating the incredible ingenuity, skill and determination of the world's most talented college students. We describe the purpose and results of each of the tasks: Astronaut Assistant, Rover Dexterity, Terrain maneuvering, and Science. We explain the evolution of the competition and common challenges faced by the robotic explorers

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.

Systematic Model-in-the-Loop Test of Embedded Control Systems

NASA Astrophysics Data System (ADS)

Krupp, Alexander; Müller, Wolfgang

Current model-based development processes offer new opportunities for verification automation, e.g., in automotive development. The duty of functional verification is the detection of design flaws. Current functional verification approaches exhibit a major gap between requirement definition and formal property definition, especially when analog signals are involved. Besides lack of methodical support for natural language formalization, there does not exist a standardized and accepted means for formal property definition as a target for verification planning. This article addresses several shortcomings of embedded system verification. An Enhanced Classification Tree Method is developed based on the established Classification Tree Method for Embeded Systems CTM/ES which applies a hardware verification language to define a verification environment.

PIA05044

NASA Image and Video Library

2004-01-11

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

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

NASA Technical Reports Server (NTRS)

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

2006-01-01

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

'Bird's Eye' View of Egress

NASA Technical Reports Server (NTRS)

2004-01-01

[figure removed for brevity, see original site]

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

Mars PathFinder Rover Traverse Image

NASA Technical Reports Server (NTRS)

1998-01-01

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

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.

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

NASA Astrophysics Data System (ADS)

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

Successful designs of vehicles intended for operations on planetary objects outside the Earth demand, just as for terrestrial off-the-road vehicles, a careful assessment of the terrain relevant for the vehicle mission and predictions of the mobility performance to allow rational trade-off's to be made for the choice of the locomotion concept and sizing. Principal issues driving the chassis design for rovers are the stress-strain properties of the planetary surface soil, the distribution of rocks in the terrain representing potential obstacles to movement, and the gravity level on the celestial object in question. Thus far, planetary rovers have been successfully designed and operated for missions to the Earth's moon and to the planet Mars, including NASA's Mars Exploration Rovers (MER's) `Spirit' and `Opportunity' being in operation on Mars since their landings in January 2004. Here we report on the development of a wheel-soil interaction model with application to wheel sizes and wheel loads relevant to current and near-term robotic planetary rovers, i.e. wheel diameters being between about 200 and 500 mm and vertical quasistatic wheel loads in operation of roughly 100 to 200 N. Such a model clearly is indispensable for sizings of future rovers to analyse the aspect of rover mobility concerned with motion across soils. This work is presently funded by the European Space Agency (ESA) as part of the `Rover Chassis Evaluation Tools' (RCET) effort which has developed a set of S/W-implemented models for predictive mobility analysis of rovers in terms of movement on soils and across obstacles, coupled with dedicated testbeds to validate the wheel-soil models. In this paper, we outline the details of the wheel-soil modelling performed within the RCET work and present comparisons of predictions of wheel performance (motion resistance, torque vs. slip and drawbar pull vs. slip) for specific test cases with the corresponding measurements performed in the RCET single wheel testbed and in the RCET system-level testbed, the latter permitting drawbar pull vs. slip measurements for complete rover development vehicles under controlled and homogeneous soil conditions. Required modifications of the wheel-soil model, in particular related to modelling the effect of wheel slip, are discussed. To strengthen the model validation base, we have run single wheel measurements using a spare MER Mars rover wheel and have performed comparisons with MER actual mobility performance data, available through one of us (LR) who is a member of the MER Athena science team. Corresponding results will be presented. Keywords: rovers, wheel, soil, mobility, vehicle performance, RCET (Rover Chassis Evaluation Tools), MER (Mars Exploration Rover mission) 2

MAPGEN: Mixed-Initiative Activity Planning for the Mars Exploration Rover Mission

NASA Technical Reports Server (NTRS)

Ai-Chang, Mitchell; Bresina, John; Hsu, Jennifer; Jonsson, Ari; Kanefsky, Bob; McCurdy, Michael; Morris, Paul; Rajan, Kanna; Vera, Alonso; Yglesias, Jeffrey

2004-01-01

This document describes the Mixed initiative Activity Plan Generation system MAPGEN. This system is one of the critical tools in the Mars Exploration Rover mission surface operations, where it is used to build activity plans for each of the rovers, each Martian day. The MAPGEN system combines an existing tool for activity plan editing and resource modeling, with an advanced constraint-based reasoning and planning framework. The constraint-based planning component provides active constraint and rule enforcement, automated planning capabilities, and a variety of tools and functions that are useful for building activity plans in an interactive fashion. In this demonstration, we will show the capabilities of the system and demonstrate how the system has been used in actual Mars rover operations. In contrast to the demonstration given at ICAPS 03, significant improvement have been made to the system. These include various additional capabilities that are based on automated reasoning and planning techniques, as well as a new Constraint Editor support tool. The Constraint Editor (CE) as part of the process for generating these command loads, the MAPGEN tool provides engineers and scientists an intelligent activity planning tool that allows them to more effectively generate complex plans that maximize the science return each day. The key to the effectiveness of the MAPGEN tool is an underlying constraint-based planning and reasoning engine.

A core handling device for the Mars Sample Return Mission

NASA Technical Reports Server (NTRS)

Gwynne, Owen

1989-01-01

A core handling device for use on Mars is being designed. To provide a context for the design study, it was assumed that a Mars Rover/Sample Return (MRSR) Mission would have the following characteristics: a year or more in length; visits by the rover to 50 or more sites; 100 or more meter-long cores being drilled by the rover; and the capability of returning about 5 kg of Mars regolith to Earth. These characteristics lead to the belief that in order to bring back a variegated set of samples that can address the range of scientific objetives for a MRSR mission to Mars there needs to be considerable analysis done on board the rover. Furthermore, the discrepancy between the amount of sample gathered and the amount to be returned suggests that there needs to be some method of choosing the optimal set of samples. This type of analysis will require pristine material-unaltered by the drilling process. Since the core drill thermally and mechanically alters the outer diameter (about 10 pct) of the core sample, this outer area cannot be used. The primary function of the core handling device is to extract subsamples from the core and to position these subsamples, and the core itself if needed, with respect to the various analytical instruments that can be used to perform these analyses.

PFLOTRAN Verification: Development of a Testing Suite to Ensure Software Quality

NASA Astrophysics Data System (ADS)

Hammond, G. E.; Frederick, J. M.

2016-12-01

In scientific computing, code verification ensures the reliability and numerical accuracy of a model simulation by comparing the simulation results to experimental data or known analytical solutions. The model is typically defined by a set of partial differential equations with initial and boundary conditions, and verification ensures whether the mathematical model is solved correctly by the software. Code verification is especially important if the software is used to model high-consequence systems which cannot be physically tested in a fully representative environment [Oberkampf and Trucano (2007)]. Justified confidence in a particular computational tool requires clarity in the exercised physics and transparency in its verification process with proper documentation. We present a quality assurance (QA) testing suite developed by Sandia National Laboratories that performs code verification for PFLOTRAN, an open source, massively-parallel subsurface simulator. PFLOTRAN solves systems of generally nonlinear partial differential equations describing multiphase, multicomponent and multiscale reactive flow and transport processes in porous media. PFLOTRAN's QA test suite compares the numerical solutions of benchmark problems in heat and mass transport against known, closed-form, analytical solutions, including documentation of the exercised physical process models implemented in each PFLOTRAN benchmark simulation. The QA test suite development strives to follow the recommendations given by Oberkampf and Trucano (2007), which describes four essential elements in high-quality verification benchmark construction: (1) conceptual description, (2) mathematical description, (3) accuracy assessment, and (4) additional documentation and user information. Several QA tests within the suite will be presented, including details of the benchmark problems and their closed-form analytical solutions, implementation of benchmark problems in PFLOTRAN simulations, and the criteria used to assess PFLOTRAN's performance in the code verification procedure. References Oberkampf, W. L., and T. G. Trucano (2007), Verification and Validation Benchmarks, SAND2007-0853, 67 pgs., Sandia National Laboratories, Albuquerque, NM.

Current status of verification practices in clinical biochemistry in Spain.

PubMed

Gómez-Rioja, Rubén; Alvarez, Virtudes; Ventura, Montserrat; Alsina, M Jesús; Barba, Núria; Cortés, Mariano; Llopis, María Antonia; Martínez, Cecilia; Ibarz, Mercè

2013-09-01

Verification uses logical algorithms to detect potential errors before laboratory results are released to the clinician. Even though verification is one of the main processes in all laboratories, there is a lack of standardization mainly in the algorithms used and the criteria and verification limits applied. A survey in clinical laboratories in Spain was conducted in order to assess the verification process, particularly the use of autoverification. Questionnaires were sent to the laboratories involved in the External Quality Assurance Program organized by the Spanish Society of Clinical Biochemistry and Molecular Pathology. Seven common biochemical parameters were included (glucose, cholesterol, triglycerides, creatinine, potassium, calcium, and alanine aminotransferase). Completed questionnaires were received from 85 laboratories. Nearly all the laboratories reported using the following seven verification criteria: internal quality control, instrument warnings, sample deterioration, reference limits, clinical data, concordance between parameters, and verification of results. The use of all verification criteria varied according to the type of verification (automatic, technical, or medical). Verification limits for these parameters are similar to biological reference ranges. Delta Check was used in 24% of laboratories. Most laboratories (64%) reported using autoverification systems. Autoverification use was related to laboratory size, ownership, and type of laboratory information system, but amount of use (percentage of test autoverified) was not related to laboratory size. A total of 36% of Spanish laboratories do not use autoverification, despite the general implementation of laboratory information systems, most of them, with autoverification ability. Criteria and rules for seven routine biochemical tests were obtained.

Drilling into Mars

NASA Image and Video Library

2013-02-20

This frame from an animation of NASA Curiosity rover shows the complicated suite of operations involved in conducting the rover first rock sample drilling on Mars and transferring the sample to the rover scoop for inspection.

Improved Detection Technique for Solvent Rinse Cleanliness Verification

NASA Technical Reports Server (NTRS)

Hornung, S. D.; Beeson, H. D.

2001-01-01

The NASA White Sands Test Facility (WSTF) has an ongoing effort to reduce or eliminate usage of cleaning solvents such as CFC-113 and its replacements. These solvents are used in the final clean and cleanliness verification processes for flight and ground support hardware, especially for oxygen systems where organic contaminants can pose an ignition hazard. For the final cleanliness verification in the standard process, the equivalent of one square foot of surface area of parts is rinsed with the solvent, and the final 100 mL of the rinse is captured. The amount of nonvolatile residue (NVR) in the solvent is determined by weight after the evaporation of the solvent. An improved process of sampling this rinse, developed at WSTF, requires evaporation of less than 2 mL of the solvent to make the cleanliness verification. Small amounts of the solvent are evaporated in a clean stainless steel cup, and the cleanliness of the stainless steel cup is measured using a commercially available surface quality monitor. The effectiveness of this new cleanliness verification technique was compared to the accepted NVR sampling procedures. Testing with known contaminants in solution, such as hydraulic fluid, fluorinated lubricants, and cutting and lubricating oils, was performed to establish a correlation between amount in solution and the process response. This report presents the approach and results and discusses the issues in establishing the surface quality monitor-based cleanliness verification.

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

NASA Image and Video Library

2003-06-09

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

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

NASA Image and Video Library

2003-06-09

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

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

NASA Image and Video Library

2003-06-09

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

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

NASA Image and Video Library

2003-06-10

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

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

NASA Image and Video Library

2003-06-10

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

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

NASA Image and Video Library

2003-06-10

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

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

NASA Image and Video Library

2003-06-10

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

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

NASA Image and Video Library

2003-06-10

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

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

NASA Image and Video Library

2003-06-10

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

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

NASA Image and Video Library

2003-06-10

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

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

NASA Image and Video Library

2003-06-10

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

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

NASA Image and Video Library

2003-06-10

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

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

NASA Image and Video Library

2003-06-09

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

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

NASA Image and Video Library

2003-06-09

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

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

NASA Image and Video Library

2003-06-10

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

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

NASA Image and Video Library

2003-06-09

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

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

NASA Image and Video Library

2003-06-10

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

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

NASA Image and Video Library

2003-06-10

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

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

NASA Image and Video Library

2003-07-07

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

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.

Rover Slip Validation and Prediction Algorithm

NASA Technical Reports Server (NTRS)

Yen, Jeng

2009-01-01

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

Spirit Wiggles into Position

NASA Technical Reports Server (NTRS)

2005-01-01

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

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

Windows to Meridiani's Water-Soaked Past

NASA Technical Reports Server (NTRS)

2004-01-01

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

Mars Exploration Rover Terminal Descent Mission Modeling and Simulation

NASA Technical Reports Server (NTRS)

Raiszadeh, Behzad; Queen, Eric M.

2004-01-01

Because of NASA's added reliance on simulation for successful interplanetary missions, the MER mission has developed a detailed EDL trajectory modeling and simulation. This paper summarizes how the MER EDL sequence of events are modeled, verification of the methods used, and the inputs. This simulation is built upon a multibody parachute trajectory simulation tool that has been developed in POST I1 that accurately simulates the trajectory of multiple vehicles in flight with interacting forces. In this model the parachute and the suspended bodies are treated as 6 Degree-of-Freedom (6 DOF) bodies. The terminal descent phase of the mission consists of several Entry, Descent, Landing (EDL) events, such as parachute deployment, heatshield separation, deployment of the lander from the backshell, deployment of the airbags, RAD firings, TIRS firings, etc. For an accurate, reliable simulation these events need to be modeled seamlessly and robustly so that the simulations will remain numerically stable during Monte-Carlo simulations. This paper also summarizes how the events have been modeled, the numerical issues, and modeling challenges.

Extended Operation of Stirling Convertors

NASA Technical Reports Server (NTRS)

Roth, Mary Ellen; Schreiber, Jeffrey G.; Pepper, Stephen V.

2004-01-01

A high-efficiency 110 watt Stirling Radioisotope Generator 110 (SRG110) is being developed for potential NASA exploration missions. The SRG system efficiency is greater than 20%, making it an attractive candidate power system for deep space missions and unmanned rovers. The Department of Energy SRG110 Project team consists of the System Integrator, Lockheed Martin (LM), Stirling Technology Company (STC), and NASA Glenn Research Center (GRC). One of the GRC roles is to provide Independent Verification and Validation of the Stirling TDC's. At the request of LM, a part of this effort includes the extended operation of the TDC's in the dynamically balanced dual-opposed configuration. Performance data of the Stirling Converters over time is required to demonstrate that an SRG110 can meet long-duration mission requirements. A test plan and test system were developed to evaluate TDC's #13 and #14 steady-state performance for a minimum of 5000 hours and insure safe, round-the-clock operation of the TDC's. This paper will discuss the design and development, and status of the Extended Operation Test.

Multijunction Solar Cell Technology for Mars Surface Applications

NASA Technical Reports Server (NTRS)

Stella, Paul M.; Mardesich, Nick; Ewell, Richard C.; Mueller, Robert L.; Endicter, Scott; Aiken, Daniel; Edmondson, Kenneth; Fetze, Chris

2006-01-01

Solar cells used for Mars surface applications have been commercial space qualified AM0 optimized devices. Due to the Martian atmosphere, these cells are not optimized for the Mars surface and as a result operate at a reduced efficiency. A multi-year program, MOST (Mars Optimized Solar Cell Technology), managed by JPL and funded by NASA Code S, was initiated in 2004, to develop tools to modify commercial AM0 cells for the Mars surface solar spectrum and to fabricate Mars optimized devices for verification. This effort required defining the surface incident spectrum, developing an appropriate laboratory solar simulator measurement capability, and to develop and test commercial cells modified for the Mars surface spectrum. This paper discusses the program, including results for the initial modified cells. Simulated Mars surface measurements of MER cells and Phoenix Lander cells (2007 launch) are provided to characterize the performance loss for those missions. In addition, the performance of the MER rover solar arrays is updated to reflect their more than two (2) year operation.

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

NASA Technical Reports Server (NTRS)

2004-01-01

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

Rock Dusting Leaves 'Mickey Mouse' Mark

NASA Technical Reports Server (NTRS)

2004-01-01

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

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

NASA Technical Reports Server (NTRS)

Trease, Brian

2011-01-01

To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting system, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction System), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using Adams dynamic modeling software. The external library was built in Fortran and called by Adams to model the wheel-soil interactions include the rut-formation effect of deformable soils, lateral and longitudinal forces, bull-dozing effects, and applied wheel torque. The paper presents the details and implementation of the system. To validate the developed system, one study case is presented from a realistic drive on Mars of the Opportunity rover. The simulation results match well from the measurement of on-board telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, a crane is in place to lift the fairing for the Mars Exploration Rover 2 (MER-2/MER-A). The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - At Launch Complex 17-A, Cape Canaveral Air Force Station, a crane is in place to lift the fairing for the Mars Exploration Rover 2 (MER-2/MER-A). The fairing will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

KENNEDY SPACE CENTER, FLA. - The fairing for the Mars Exploration Rover 2 (MER-2/MER-A) arrives at Launch Complex 17-A, Cape Canaveral Air Force Station. It will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

NASA Image and Video Library

2003-04-30

KENNEDY SPACE CENTER, FLA. - The fairing for the Mars Exploration Rover 2 (MER-2/MER-A) arrives at Launch Complex 17-A, Cape Canaveral Air Force Station. It will be installed around the payload for protection during launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch date for MER-A is scheduled for June 5.

Response to "Improving Patient Safety With Error Identification in Chemotherapy Orders by Verification Nurses"
.

PubMed

Zhu, Ling-Ling; Lv, Na; Zhou, Quan

2016-12-01

We read, with great interest, the study by Baldwin and Rodriguez (2016), which described the role of the verification nurse and details the verification process in identifying errors related to chemotherapy orders. We strongly agree with their findings that a verification nurse, collaborating closely with the prescribing physician, pharmacist, and treating nurse, can better identify errors and maintain safety during chemotherapy administration.

Process Document for the joint ETV/NOWATECH verification of the Sorbisense GSW40 passive sampler

EPA Science Inventory

Nordic Water Technology Verification Center’s (NOWATECH) DHI Water Monitoring Center (DHI WMC), a pilot Environmental Technology Verification (ETV) program in the European Union, and the United States Environmental Protection Agency ETV (US EPA ETV) program’s Advanced Monitoring ...

KSC-03pd0987

NASA Image and Video Library

2003-04-04

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility examine the Mars Exploration Rover 2 (MER-2) as it is lowered onto the base petal of the lander. Set to launch in Spring 2003, the MER Mission consists of two identical rovers. Landing at different regions of Mars, they are designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0984

NASA Image and Video Library

2003-04-04

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility check the Mars Exploration Rover 2 (MER-2) before it is lifted and moved to the lander where it will be mated to the base petal. Set to launch in Spring 2003, the MER Mission consists of two identical rovers, landing at different regions of Mars, designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

KSC-03pd0988

NASA Image and Video Library

2003-04-04

KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility release the overhead crane used to lower the Mars Exploration Rover 2 (MER-2) onto the base petal of the lander. Set to launch in Spring 2003, the MER Mission consists of two identical rovers. Landing at different regions of Mars, they are designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

Airbags and Sojourner Rover

NASA Image and Video Library

1997-07-05

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

Mars Rover Concept Vehicle

NASA Image and Video Library

2017-06-05

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

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.

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.

Verification of S&D Solutions for Network Communications and Devices

NASA Astrophysics Data System (ADS)

Rudolph, Carsten; Compagna, Luca; Carbone, Roberto; Muñoz, Antonio; Repp, Jürgen

This chapter describes the tool-supported verification of S&D Solutions on the level of network communications and devices. First, the general goals and challenges of verification in the context of AmI systems are highlighted and the role of verification and validation within the SERENITY processes is explained.Then, SERENITY extensions to the SH VErification tool are explained using small examples. Finally, the applicability of existing verification tools is discussed in the context of the AVISPA toolset. The two different tools show that for the security analysis of network and devices S&D Patterns relevant complementary approachesexist and can be used.

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

NASA Astrophysics Data System (ADS)

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

2013-04-01

Introduction: The new experiment for the Husar-5 educational space probe rover consists of steps of the technology of procedure of finding carbonate speci-mens among the rocks on the field. 3 main steps were robotized: 1) identification of carbonate by acid test, 2) measuring the gases liberated by acid, and 3) magnetic test. Construction of the experiment: The basis of the robotic realization of the experiment is a romote-controlled rover which can move on the field. Onto this rover the mechanism of the experiments were built from Technics LEGO elements and we used LEGO-motors for making move these experiments. The operation was coordinated by an NXT-brick which was suitable to programming. Fort he acetic-test the drops should be passed to the selected area. Passing a drop to a locality: From the small holder of the acid using densified gas we pump some drop onto the selected rock. We promote this process by pumpig the atmospheric gas into another small gas-container, so we have another higher pressure gas there. This is pumped into the acid-holder. The effect of the reaction is observed by a wireless onboard camera In the next step we can identify the the liberated gas by the gas sensor. Using it we can confirm the liberation of the CO2 gas without outer observer. The third step is the controll of the paramagnetic properties.. In measuring this feature a LEGO-compass is our instrumentation. We use a electric current gener-ated magnet. During the measurements both the coil and the gas-sensor should be positioned to be near to the surface. This means, that a lowering and an uplifting machinery should be constructed. Summary: The sequence of the measurement is the following. 1) the camera - after giving panorama images - turns toward the soil surface, 2) the dropping onto the rock surface 3) at the same time the gas-sensor starts to move down above the rock 4) the compass sensor also moves down on the arm which holds both the gas-sensor and the compass-sensor 5) evaluation of the gas-sensor data 6) if CO2 is present the magnet-test begins, therefore the rovers moves forward into a good position for the coil lowering 7) after magnetization the rover moves backward in order to be in the position that the compass-sesnsor can measure the angle. 8) the last 2 operations are repeated in a small turned position of the rover 9) final calculation of the paramagnetic measurement 10) summary of the 3 tests

Immersive visualization for navigation and control of the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

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

2004-01-01

The Rover Sequencing and Visualization Program (RSVP) is a suite of tools for sequencing of planetary rovers, which are subject to significant light time delay and thus are unsuitable for teleoperation.

Recent Accomplishments in Mars Exploration: The Rover Perspective

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

Opportunity Late Afternoon View of Mars

NASA Image and Video Library

2012-02-03

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

A Rover Journey Begins

NASA Image and Video Library

2012-09-06

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

Visual Target Tracking on the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

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

2008-01-01

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

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

NASA Technical Reports Server (NTRS)

2006-01-01

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

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

Rover Graphical Simulator

NASA Technical Reports Server (NTRS)

Bon, Bruce; Seraji, Homayoun

2007-01-01

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

Aeolian sedimentary processes at the Bagnold Dunes, Mars: Implications for modern dune dynamics and sedimentary structures in the aeolian stratigraphic record of Mars

NASA Astrophysics Data System (ADS)

Ewing, Ryan C.; Bridges, Nathan T.; Sullivan, Rob; Lapotre, Mathieu G. A.; Fischer, Woodward W.; Lamb, Mike P.; Rubin, David M.; Lewis, Kevin W.; Gupta, Sanjeev

2016-04-01

Wind-blown sand dunes are ubiquitous on the surface of Mars and are a recognized component of the martian stratigraphic record. Our current knowledge of the aeolian sedimentary processes that determine dune morphology, drive dune dynamics, and create aeolian cross-stratification are based upon orbital studies of ripple and dune morphodynamics, rover observations of stratification on Mars, Earth analogs, and experimental and theoretical studies of sand movement under Martian conditions. In-situ observations of sand dunes (informally called the Bagnold Dunes) by Curiosity Rover in Gale Crater, Mars provide the first opportunity to make observations of dunes from the grain-to-dune scale thereby filling the gap in knowledge between theory and orbital observations and refining our understanding of the martian aeolian stratigraphic record. We use the suite of cameras on Curiosity, including Navigation Camera (Navcam), Mast Camera (Mastcam) and Mars Hand Lens Imager (MAHLI), to make observations of the Bagnold Dunes. Measurements of sedimentary structures are made where stereo images are available. Observations indicate that structures generated by gravity-driven processes on the dune lee slopes, such as grainflow and grainfall, are similar to the suite of aeolian sedimentary structures observed on Earth and should be present and recognizable in Mars' aeolian stratigraphic record. Structures formed by traction-driven processes deviate significantly from those found on Earth. The dune hosts centimeter-scale wind ripples and large, meter-scale ripples, which are not found on Earth. The large ripples migrate across the depositional, lee slopes of the dune, which implies that these structures should be present in Mars' stratigraphic record and may appear similar to compound-dune stratification.The Mars Science Laboratory Curiosity Rover Team is acknowledged for their support of this work.

49 CFR 40.327 - When must the MRO report medical information gathered in the verification process?

Code of Federal Regulations, 2010 CFR

2010-10-01

... results and medical information you learned as part of the verification process to third parties without... the course of an accident investigation. (c) If the law of a foreign country (e.g., Canada) prohibits...

ENVIRONMENTAL TECHNOLOGY VERIFICATION REPORT FOR AMMONIA RECOVERY PROCESS

EPA Science Inventory

This Technology Verification report describes the nature and scope of an environmental evaluation of ThermoEnergy Corporation’s Ammonia Recovery Process (ARP) system. The information contained in this report represents data that were collected over a 3-month pilot study. The ti...

Too Big for the Sieve

NASA Image and Video Library

2012-10-11

In this image, the scoop on NASA Curiosity rover shows the larger soil particles that were too big to filter through a sample-processing sieve that is porous only to particles less than 0.006 inches 150 microns across.

Seeing in three dimensions: correlation and triangulation of Mars Exploration Rover imagery

NASA Technical Reports Server (NTRS)

Deen, Robert; Lorre, Jean

2005-01-01

This paper describes in detail the middle parts of the ground-based terrain derivation process: correlation, which finds matching points in the stereo pair, and triangulation, which converts those points to XYZ coordinates.

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.;

Chemistry of Martian Soils from the Mars Exploration Rover APXS Instruments

NASA Technical Reports Server (NTRS)

Mittlefehldt, D. W.; Gellert, R.; Yen, A.

2007-01-01

The martian surface is covered with debris formed by several mechanisms and mobilized by various processes. Volcanism, impact, physical weathering and chemical alteration combine to produce particles of sizes from dust to boulders composed of primary mineral and rock fragments, partially altered primary materials, alteration minerals and shock-modified materials from all of these. Impacts and volcanism produce localized deposits. Winds transport roughly sand-sized material over intermediate distances, while periodic dust storms deposit a global dust layer of the finest fraction. The compositions of clastic sediments can be used to evaluate regional differences in crustal composition and/or weathering processes. Here we examine the growing body of chemical data on soils in Gusev crater and Meridiani Planum returned by the Alpha Particle X-ray Spectrometer (APXS) instruments on the rovers Spirit (MERA) and Opportunity (MERB), following on earlier results based on smaller data sets [1-4].

Mast Camera and Its Calibration Target on Curiosity Rover

NASA Image and Video Library

2013-03-18

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

Cumberland Target for Drilling by Curiosity Mars Rover

NASA Image and Video Library

2013-05-09

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

CRAFT: Collaborative Rover and Astronauts Future Technology

NASA Astrophysics Data System (ADS)

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

2018-02-01

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

Cameras on Mars 2020 Rover

NASA Image and Video Library

2017-10-31

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

Bright Days Ahead for Curiosity Mars Rover

NASA Image and Video Library

2011-03-18

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

Signs of a Whirlwind in Gale Crater

NASA Image and Video Library

2012-11-15

Twenty-one times during the first 12 weeks that NASA Mars rover Curiosity worked on Mars, the rover Rover Environmental Monitoring Station REMS detected brief dips in air pressure that could be caused by a passing whirlwind.

Opportunity Rover Nears Mars Marathon Feat

NASA Image and Video Library

2015-02-10

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

Mars Lander/Rover vehicle development: An advanced space design project for USRA and NASA/OAST

NASA Technical Reports Server (NTRS)

1987-01-01

The results of the studies on one particular part of the Mars Lander/Rover (MLR) system are contained: the Balloon Rover. This component vehicle was selected for further research and design because of the lack of technical literature on this subject, as compared to surface rover technology. Landing site selection; balloon system development and deployment; optics and communications; and the payload power supply are described.

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

NASA Technical Reports Server (NTRS)

Bagdigian, Robert M.; Stambaugh, Imelda

2010-01-01

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

KSC-03PD-2086

NASA Technical Reports Server (NTRS)

2003-01-01

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

KSC-03PD-2091

NASA Technical Reports Server (NTRS)

2003-01-01

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

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

NASA Image and Video Library

2003-07-07

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

KSC-03PD-2090

NASA Technical Reports Server (NTRS)

2003-01-01

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

Home and Back Again

NASA Technical Reports Server (NTRS)

2004-01-01

The Mars Exploration Rover Opportunity finished observations of the prominent rock outcrop it has been studying during its 51 martian days, or sols, on Mars, and is currently on the hunt for new discoveries. This image from the rover's navigation camera atop its mast features Opportunity's lander--its temporary home for the six-month cruise to Mars. The rover's soil survey traverse plan involves arcing around its landing site, called the Challenger Memorial Station, and over the trench it made on sol 23. In this image, Opportunity is situated about 6.2 meters (about 20.3 feet) from the lander. Rover tracks zig-zag along the surface. Bounce marks and airbag retraction marks are visible around the lander. The calibration target or sundial, which both rover panoramic cameras use to verify the true colors and brightness of the red planet, is visible on the back end of the rover.

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.

The Effects of Clock Drift on the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Ali, Khaled S.; Vanelli, C. Anthony

2012-01-01

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

At Base of 'Burns Cliff'

NASA Image and Video Library

2004-11-11

NASA's Mars Exploration Rover Opportunity captured this view from the base of "Burns Cliff" during the rover's 280th martian day (Nov. 6, 2004). This cliff in the inner wall of "Endurance Crater" displays multiple layers of bedrock for the rover to examine with its panoramic camera and miniature thermal emission spectrometer. The rover team has decided that the farthest Opportunity can safely advance along the base of the cliff is close to the squarish white rock near the center of this image. After examining the site for a few days from that position, the the rover will turn around and head out of the crater. The view is a mosaic of frames taken by Opportunity's navigation camera. The rover was on ground with a slope of about 30 degrees when the pictures were taken, and the view is presented here in a way that corrects for that tilt of the camera. http://photojournal.jpl.nasa.gov/catalog/PIA07039

Defining Long-Duration Traverses of Lunar Volcanic Complexes with LROC NAC Images

NASA Technical Reports Server (NTRS)

Stopar, J. D.; Lawrence, S. J.; Joliff, B. L.; Speyerer, E. J.; Robinson, M. S.

2016-01-01

A long-duration lunar rover [e.g., 1] would be ideal for investigating large volcanic complexes like the Marius Hills (MH) (approximately 300 x 330 km), where widely spaced sampling points are needed to explore the full geologic and compositional variability of the region. Over these distances, a rover would encounter varied surface morphologies (ranging from impact craters to rugged lava shields), each of which need to be considered during the rover design phase. Previous rovers including Apollo, Lunokhod, and most recently Yutu, successfully employed pre-mission orbital data for planning (at scales significantly coarser than that of the surface assets). LROC was specifically designed to provide mission-planning observations at scales useful for accurate rover traverse planning (crewed and robotic) [2]. After-the-fact analyses of the planning data can help improve predictions of future rover performance [e.g., 3-5].

Autonomous Exploration for Gathering Increased Science

NASA Technical Reports Server (NTRS)

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

Identity Verification, Control, and Aggression in Marriage

ERIC Educational Resources Information Center

Stets, Jan E.; Burke, Peter J.

2005-01-01

In this research we study the identity verification process and its effects in marriage. Drawing on identity control theory, we hypothesize that a lack of verification in the spouse identity (1) threatens stable self-meanings and interaction patterns between spouses, and (2) challenges a (nonverified) spouse's perception of control over the…

24 CFR 3286.207 - Process for obtaining installation license.

Code of Federal Regulations, 2010 CFR

2010-04-01

... installation license must submit verification of the experience required in § 3286.205(a). This verification may be in the form of statements by past or present employers or a self-certification that the applicant meets those experience requirements, but HUD may contact the applicant for additional verification...

24 CFR 3286.307 - Process for obtaining trainer's qualification.

Code of Federal Regulations, 2010 CFR

2010-04-01

... verification of the experience required in § 3286.305. This verification may be in the form of statements by past or present employers or a self-certification that the applicant meets those experience requirements, but HUD may contact the applicant for additional verification at any time. The applicant must...

7 CFR 1980.353 - Filing and processing applications.

Code of Federal Regulations, 2010 CFR

2010-01-01

... subject to the availability of funds. (15) A copy of a valid verification of income for each adult member... method of verifying information. Verifications must pass directly from the source of information to the Lender and shall not pass through the hands of a third party or applicant. (1) Income verification...

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.

Exobiology and the search for biological signatures on Mars

NASA Technical Reports Server (NTRS)

Mancinelli, Rocco L.; Schwartz, Deborah E.

1988-01-01

In preparation for a Mars Rover/Sample return mission, the mission goals and objectives must be identified. One of the most important objectives must address exobiology and the question of the possibility of the origin and evolution of life on Mars. In particular, key signatures or bio-markers of a possible extinct Martian biota must be defined. To that end geographic locations (sites) that are likely to contain traces of past life must also be identified. Sites and experiments are being defined in support of a Mars rover sample return mission. In addition, analyses based on computer models of abiotic processes of CO2 loss from Mars suggest that the CO2 from the atmosphere may have precipitated as carbonates and be buried within the Martian regolith. The carbon cycle of perennially frozen lakes in the dry valley of Antarctica are currently being investigated. These lakes were purported to be a model system for the ancient Martian lakes. By understanding the dynamic balance between the abiotic vs. biotic cycling of carbon within this system, information is gathered which will enable the interpretation of data obtained by a Mars rover with respect to possible carbonate deposits and the processing of carbon by biological systems. These ancient carbonate deposits, and other sedimentary units would contain traces of biological signatures that would hold the key to understanding the origin and evolution of life on Mars, as well as Earth.

'Endurance': A Daunting Challenge

NASA Technical Reports Server (NTRS)

2004-01-01

This image shows the approximate size of the Mars Exploration Rover Opportunity in comparison to the impressive impact crater dubbed 'Endurance,' which is roughly 130 meters (430 feet) across. A model of Opportunity has been superimposed on top of an approximate true-color image taken by the rover's panoramic camera. Scientists are eager to explore Endurance for clues to the red planet's history. The crater's exposed walls provide a window to what lies beneath the surface of Mars and thus what geologic processes occurred there in the past. While recent studies of the smaller crater nicknamed 'Eagle' revealed an evaporating body of salty water, that crater was not deep enough to indicate what came before the water. Endurance may be able to help answer this question, but the challenge is getting to the scientific targets: most of the crater's rocks are embedded in vertical cliffs. Rover planners are developing strategies to overcome this obstacle.

This image is a portion of a larger mosaic taken with the panoramic camera's 480-, 530- and 750-nanometer filters on sols 97 and 98.

Water Ice Clouds as Seen from the Mars Exploration Rovers

NASA Astrophysics Data System (ADS)

Wolff, M. J.; Clancy, R. T.; Banfield, D.; Cuozzo, K.

2005-12-01

Water ice clouds that bear a striking resemblance to terrestrial cirrus (e.g., "Mare's tails") have been observed by the Panoramic Camera (Pancam), the Navigation Camera (Navcam), the Hazard Camera (Hazcam), and the Minature Thermal Emission Spectrometer (Mini-TES) on board the Mars Exploration Rovers (MER). Such phenomena represent an opportunity to characterize local and regional scale meteorology as well as our understanding of the processes involved. However, a necessary first-step is to adequately describe some basic properties of the detected clouds: 1) when are the clouds present (i.e., local time, season, etc.)? 2) where are the clouds present? That is to say, what is the relative frequency between the two rover sites as well as the connection to detections from orbiting spacecraft. 3) what are the observed morphologies? 4) what are the projected velocities (i.e., wind speeds and directions) associated with the clouds? 5) what is the abundance of water ice nuclei (i.e., optical depth)? Our talk will summarize our progress in answering the above questions, as well as provide initial results in connecting the observations to more global behavior in the Martian climate.

Generation and Performance of Automated Jarosite Mineral Detectors for Vis/NIR Spectrometers at Mars

NASA Technical Reports Server (NTRS)

Gilmore, M. S.; Bornstein, B.; Merrill, M. D.; Castano, R.; Greenwood, J. P.

2005-01-01

Sulfate salt discoveries at the Eagle and Endurance craters in Meridiani Planum by the Mars Exploration Rover Opportunity have proven mineralogically the existence and involvement of water in Mars past. Visible and near infrared spectrometers like the Mars Express OMEGA, the Mars Reconnaissance Orbiter CRISM and the 2009 Mars Science Laboratory Rover cameras are powerful tools for the identification of water-bearing salts and other high priority minerals at Mars. The increasing spectral resolution and rover mission lifetimes represented by these missions currently necessitate data compression in order to ease downlink restrictions. On board data processing techniques can be used to guide the selection, measurement and return of scientifically important data from relevant targets, thus easing bandwidth stress and increasing scientific return. We have developed an automated support vector machine (SVM) detector operating in the visible/near-infrared (VisNIR, 300-2500 nm) spectral range trained to recognize the mineral jarosite (typically KFe3(SO4)2(OH)6), positively identified by the Mossbauer spectrometer at Meridiani Planum. Additional information is included in the original extended abstract.

Looking for Changes in Soil over Time

NASA Technical Reports Server (NTRS)

2006-01-01

The grinding teeth have worn away on the rock abrasion tool of NASA's Mars Exploration Rover Spirit (after exposing interiors of five time more rock targets than its design goal of three rocks) but the tool still has useful wire bristles for brushing targets. In this image, a figure-eight-like imprint in the Martian soil marks the spot where Spirit has begun examining subsurface deposits layer by layer. The circular indentations resulted from brushing by the rock abrasion tool, one of several instruments on the rover's robotic arm. As an effective brushing tool it is now fulfilling a soil profiling experiment on a target called 'Progress.'

The experiment is a multi-step process of carefully brushing away fine layers of soil and then using the Moessbauer and alpha particle X-ray spectrometers, microscopic imager, and panoramic camera to examine the exposed surfaces during the long Martian winter.

This view is a mosaic of exposures taken by Spirit's microscopic imager during the rover's 830th Martian day (May 4, 2006). The total area shown is about 6 centimeters (2.4 inches) square.

Fuzzy logic control system to provide autonomous collision avoidance for Mars rover vehicle

NASA Technical Reports Server (NTRS)

Murphy, Michael G.

1990-01-01

NASA is currently involved with planning unmanned missions to Mars to investigate the terrain and process soil samples in advance of a manned mission. A key issue involved in unmanned surface exploration on Mars is that of supporting autonomous maneuvering since radio communication involves lengthy delays. It is anticipated that specific target locations will be designated for sample gathering. In maneuvering autonomously from a starting position to a target position, the rover will need to avoid a variety of obstacles such as boulders or troughs that may block the shortest path to the target. The physical integrity of the rover needs to be maintained while minimizing the time and distance required to attain the target position. Fuzzy logic lends itself well to building reliable control systems that function in the presence of uncertainty or ambiguity. The following major issues are discussed: (1) the nature of fuzzy logic control systems and software tools to implement them; (2) collision avoidance in the presence of fuzzy parameters; and (3) techniques for adaptation in fuzzy logic control systems.

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.

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.

What is the Final Verification of Engineering Requirements?

NASA Technical Reports Server (NTRS)

Poole, Eric

2010-01-01

This slide presentation reviews the process of development through the final verification of engineering requirements. The definition of the requirements is driven by basic needs, and should be reviewed by both the supplier and the customer. All involved need to agree upon a formal requirements including changes to the original requirements document. After the requirements have ben developed, the engineering team begins to design the system. The final design is reviewed by other organizations. The final operational system must satisfy the original requirements, though many verifications should be performed during the process. The verification methods that are used are test, inspection, analysis and demonstration. The plan for verification should be created once the system requirements are documented. The plan should include assurances that every requirement is formally verified, that the methods and the responsible organizations are specified, and that the plan is reviewed by all parties. The options of having the engineering team involved in all phases of the development as opposed to having some other organization continue the process once the design has been complete is discussed.

Mars Under the Microscope

NASA Technical Reports Server (NTRS)

2004-01-01

This magnified look at the martian soil near the Mars Exploration Rover Opportunity's landing site, Meridiani Planum, shows coarse grains sprinkled over a fine layer of sand. The image was captured by the rover's microscopic imager on the 10th day, or sol, of its mission. Scientists are intrigued by the spherical rocks, which can be formed by a variety of geologic processes, including cooling of molten lava droplets and accretion of concentric layers of material around a particle or 'seed.'

The examined patch of soil is 3 centimeters (1.2 inches) across. The circular grain in the lower left corner is approximately 3 millimeters (.12 inches) across, or about the size of a sunflower seed.

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.

Test Rover Sinks into Prepared Soil

NASA Image and Video Library

2009-06-30

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

A View From Below the Rover Deck

NASA Image and Video Library

2012-08-17

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

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

NASA Image and Video Library

2013-02-04

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

Pressure Cycles on Mars

NASA Image and Video Library

2012-11-15

This graph shows the atmospheric pressure at the surface of Mars, as measured by the Rover Environmental Monitoring Station on NASA Curiosity rover. Pressure is a measure of the amount of air in the whole column of atmosphere sitting above the rover.

Curiosity Mars Rover Drilling Into Its Second Rock

NASA Image and Video Library

2013-06-05

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

JPL-20170801-MSLf-0001-Rover POV Five Years of Curiosity on Mars

NASA Image and Video Library

2017-08-02

Five years of images from the Mars Science Laboratory rover Curiosity's Hazard Avoidance Camera (Hazcam) were used to create this time-lapse movie. An inset map shows the rover's location in Mars' Gale Crater.

Scooped Material on Rover Observation Tray

NASA Image and Video Library

2012-10-25

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

Filling the Simulated Sandtrap

NASA Image and Video Library

2009-06-30

Rover team members Mike Seibert left and Paolo Bellutta add a barrowful of soil mixture to the sloped box where a test rover will be used for assessing possible maneuvers for NASA rover Spirit to use in escaping from a sandtrap on Mars.

Signs of Perchlorates and Sulfur Containing Compounds

NASA Image and Video Library

2012-12-03

NASA Mars rover Curiosity has detected sulfur, chlorine, and oxygen compounds in fine grains scooped by the rover at a wind drift site called Rocknest. The grains were heated and analyzed using the rover Sample Analysis at Mars instrument suite.