Cerebellum Augmented Rover Development

NASA Technical Reports Server (NTRS)

King, Matthew

2005-01-01

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

Design Concept for a Nuclear Reactor-Powered Mars Rover

NASA Technical Reports Server (NTRS)

Elliott, John; Poston, Dave; Lipinski, Ron

2007-01-01

A report presents a design concept for an instrumented robotic vehicle (rover) to be used on a future mission of exploration of the planet Mars. The design incorporates a nuclear fission power system to provide long range, long life, and high power capabilities unachievable through the use of alternative solar or radioisotope power systems. The concept described in the report draws on previous rover designs developed for the 2009 Mars Science laboratory (MSL) mission to minimize the need for new technology developments.

Sources Sought for Innovative Scientific Instrumentation for Scientific Lunar Rovers

NASA Technical Reports Server (NTRS)

Meyer, C.

1993-01-01

Lunar rovers should be designed as integrated scientific measurement systems that address scientific goals as their main objective. Scientific goals for lunar rovers are presented. Teleoperated robotic field geologists will allow the science team to make discoveries using a wide range of sensory data collected by electronic 'eyes' and sophisticated scientific instrumentation. rovers need to operate in geologically interesting terrain (rock outcrops) and to identify and closely examine interesting rock samples. Enough flight-ready instruments are available to fly on the first mission, but additional instrument development based on emerging technology is desirable. Various instruments that need to be developed for later missions are described.

Lunar rover technology demonstrations with Dante and Ratler

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

MSR Fetch Rover Capability Development at the Canadian Space Agency

NASA Astrophysics Data System (ADS)

Picard, M.; Hipkin, V.; Gingras, D.; Allard, P.; Lamarche, T.; Rocheleau, S. G.; Gemme, S.

2018-04-01

Describes Fetch Rover technology testing during CSA's 2016 Mars Sample Return Analogue Deployment which demonstrated autonomous navigation to 'cache depots' of M-2020-like sample tubes, acquisition of six such tubes, and transfer to a MAV mock up.

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.

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

NASA Technical Reports Server (NTRS)

1987-01-01

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

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

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

Carbide fuels for nuclear thermal propulsion

NASA Astrophysics Data System (ADS)

Matthews, R. B.; Blair, H. T.; Chidester, K. M.; Davidson, K. V.; Stark, W. E.; Storms, E. K.

1991-09-01

A renewed interest in manned exploration of space has revitalized interest in the potential for advancing nuclear rocket technology developed during the 1960's. Carbide fuel performance, melting point, stability, fabricability and compatibility are key technology issues for advanced Nuclear Thermal Propulsion reactors. The Rover fuels development ended with proven carbide fuel forms with demonstrated operating temperatures up to 2700 K for over 100 minutes. The next generation of nuclear rockets will start where the Rover technology ended, but with a more rigorous set of operating requirements including operating lifetime to 10 hours, operating temperatures greater that 3000 K, low fission product release, and compatibility. A brief overview of Rover/NERVA carbide fuel development is presented. A new fuel form with the highest potential combination of operating temperature and lifetime is proposed that consists of a coated uranium carbide fuel sphere with built-in porosity to contain fission products. The particles are dispersed in a fiber reinforced ZrC matrix to increase thermal shock resistance.

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).

NASA Planetary Rover Program

NASA Technical Reports Server (NTRS)

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

1991-01-01

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

Technologies for Lunar Exploration

NASA Astrophysics Data System (ADS)

Zacny, K.; Indyk, S.

2017-10-01

Honeybee Robotics, with its partners, developed numerous technologies for lunar exploration. Most of these technologies are at high TRL and have been designed for small landers, rovers, as well as astronauts. This abstract presents several of these technologies.

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.

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.

CIS-lunar space infrastructure lunar technologies: Executive summary

NASA Technical Reports Server (NTRS)

Faller, W.; Hoehn, A.; Johnson, S.; Moos, P.; Wiltberger, N.

1989-01-01

Technologies necessary for the creation of a cis-Lunar infrastructure, namely: (1) automation and robotics; (2) life support systems; (3) fluid management; (4) propulsion; and (5) rotating technologies, are explored. The technological focal point is on the development of automated and robotic systems for the implementation of a Lunar Oasis produced by Automation and Robotics (LOAR). Under direction from the NASA Office of Exploration, automation and robotics were extensively utilized as an initiating stage in the return to the Moon. A pair of autonomous rovers, modular in design and built from interchangeable and specialized components, is proposed. Utilizing a buddy system, these rovers will be able to support each other and to enhance their individual capabilities. One rover primarily explores and maps while the second rover tests the feasibility of various materials-processing techniques. The automated missions emphasize availability and potential uses of Lunar resources, and the deployment and operations of the LOAR program. An experimental bio-volume is put into place as the precursor to a Lunar environmentally controlled life support system. The bio-volume will determine the reproduction, growth and production characteristics of various life forms housed on the Lunar surface. Physicochemical regenerative technologies and stored resources will be used to buffer biological disturbances of the bio-volume environment. The in situ Lunar resources will be both tested and used within this bio-volume. Second phase development on the Lunar surface calls for manned operations. Repairs and re-configuration of the initial framework will ensue. An autonomously-initiated manned Lunar oasis can become an essential component of the United States space program.

Evolving directions in NASA's planetary rover requirements and technology

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

Station Astronaut Drives Rover from Space During Telerobotics Test (Reporter Pkg for Web)

NASA Image and Video Library

2013-07-26

During a technology demonstration test, an astronaut onboard the International Space Station will remotely control a rover at NASA's Ames Research Center, Moffett Field, Calif. The test is designed to identify the technology and skills needed to remotely operate rovers on the surface of the moon, Mars or an asteroid.

Aerokats and Rover

NASA Astrophysics Data System (ADS)

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

2015-12-01

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

Cislunar space infrastructure: Lunar technologies

NASA Technical Reports Server (NTRS)

Faller, W.; Hoehn, A.; Johnson, S.; Moos, P.; Wiltberger, N.

1989-01-01

Continuing its emphasis on the creation of a cisluar infrastructure as an appropriate and cost-effective method of space exploration and development, the University of Colorado explores the technologies necessary for the creation of such an infrastructure, namely (1) automation and robotics; (2) life support systems; (3) fluid management; (4) propulsion; and (5) rotating technologes. The technological focal point is on the development of automated and robotic systems for the implementation of a Lunar Oasis produced by automation and robotics (LOARS). Under direction from the NASA Office of Exploration, automation and robotics have been extensively utilized as an initiating stage in the return to the Moon. A pair of autonomous rovers, modular in design and built from interchangeable and specialized components, is proposed. Utilizing a 'buddy system', these rovers will be able to support each other and to enhance their individual capabilities. One rover primarily explores and maps while the second rover tests the feasibility of various materials-processing techniques. The automated missions emphasize availability and potential uses of lunar resources and the deployment and operations of the LOAR program. An experimental bio-volume is put into place as the precursor to a Lunar Environmentally Controlled Life Support System. The bio-volume will determine the reproduction, growth and production characteristics of various life forms housed on the lunar surface. Physiochemical regenerative technologies and stored resources will be used to buffer biological disturbances of the bio-volume environment. The in situ lunar resources will be both tested and used within this bio-volume. Second phase development on the lunar surface calls for manned operations. Repairs and reconfiguration of the initial framework will ensue. An autonomously initiated, manned Lunar Oasis can become an essential component of the United States space program. The Lunar Oasis will provide support to science, technology, and commerce. It will enable more cost-effective space exploration to the planets and beyond.

Sojourner, Wedge, & Shark

NASA Technical Reports Server (NTRS)

1997-01-01

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

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

Robotic vehicles for planetary exploration

NASA Astrophysics Data System (ADS)

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

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

Robotic vehicles for planetary exploration

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

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.

Shark as viewed by Sojourner Rover

NASA Technical Reports Server (NTRS)

1998-01-01

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

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

Surface Telerobotics: Development and Testing of a Crew Controlled Planetary Rover System

NASA Technical Reports Server (NTRS)

Bualat, Maria G.; Fong, Terrence; Allan, Mark; Bouyssounouse, Xavier; Cohen, Tamar; Kobayashi, Linda

2013-01-01

In planning for future exploration missions, architecture and study teams have made numerous assumptions about how crew can be telepresent on a planetary surface by remotely operating surface robots from space (i.e. from a flight vehicle or deep space habitat). These assumptions include estimates of technology maturity, existing technology gaps, and operational risks. These assumptions, however, have not been grounded by experimental data. Moreover, to date, no crew-controlled surface telerobot has been fully tested in a high-fidelity manner. To address these issues, we developed the "Surface Telerobotics" tests to do three things: 1) Demonstrate interactive crew control of a mobile surface telerobot in the presence of short communications delay. 2) Characterize a concept of operations for a single astronaut remotely operating a planetary rover with limited support from ground control. 3) Characterize system utilization and operator work-load for a single astronaut remotely operating a planetary rover with limited support from ground control.

Evolving directions in NASA's planetary rover requirements and technology

NASA Astrophysics Data System (ADS)

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

1993-10-01

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

Evolving directions in NASA's planetary rover requirements and technology

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

Rover and Telerobotics Technology Program

NASA Technical Reports Server (NTRS)

Weisbin, Charles R.

1998-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2014-06-01

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

Mars to earth optical communication link for the proposed Mars Sample Return mission roving vehicle

NASA Astrophysics Data System (ADS)

Sipes, Donald L., Jr.

The Mars Sample Return (MSR) mission planed for 1989 will deploy a rover from its landing craft to survey the Martian surface. During traversals of the rover from one site to the next in search of samples, three-dimensional images from a pair of video cameras will be transmitted to earth; the terrestrial operators will then send back high level direction commands to the rover. Attention is presently given to the effects of wind and dust on communications, the architecture of the optical communications package, and the identification of technological areas requiring further development for MSR incorporation.

Rovers Pave the Way for Hospital Robots

NASA Technical Reports Server (NTRS)

2013-01-01

The Jet Propulsion Laboratory provided funding for the Massachusetts Institute of Technology to develop capabilities for robotics like Rocky 7. After developing the operating system, Daniel Theobald started working at Cambridge, Massachusetts-based Vecna Technologies. Today, Vecna's QC Bot incorporates systems based on the NASA work and is being used to ease logistics at hospitals. The technology has contributed to 20 new jobs.

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.

Rover Soil Experiments Near Yogi

NASA Technical Reports Server (NTRS)

1997-01-01

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

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

Raising Nuclear Thermal Propulsion (NTP) Technology Readiness Above 3

NASA Technical Reports Server (NTRS)

Gerrish, Harold P., Jr.

2014-01-01

NTP development is currently supported by the NASA program office "Advanced Exploration Systems". The concept is a main propulsion option being considered for human missions to Mars in the 2030's. Major NTP development took place in the 1960's and 1970's under the Rover/NERVA program. The technology had matured to TRL 6 and was preparing to go to TRL 7 with a prototype flight engine before the program was cancelled. Over the last 40 years, a variety of continuations started, but only lasted a few years each. The Rover/NERVA infrastructure is almost all gone. The only remains are a few pieces of hardware, final reports and a few who worked the Rover/NERVA. Two types of nuclear fuel are being investigated to meet the current engine design specific impulse of 900 seconds compared to approximately 850 seconds demonstrated during Rover/NERVA. One is a continuation of composite fuel with new coatings to better control mid-band corrosion. The other type is a CERMET fuel made of Tungsten and UO2. Both fuels are being made from Rover/NERVA lessons learned, but with slightly different recipes to increase fuel endurance at higher operating temperatures. The technology readiness level (TRL) of these current modified reactor fuels is approximately TRL 3. To keep the development cost low and help mature the TRL level past 4 quickly, a few special non-nuclear test facilities have been made to test surrogate fuel, with depleted uranium, as coupons and full length elements. Both facilities utilize inductive heating and are licensed to handle depleted uranium. TRL 5 requires exposing the fuel to a nuclear environment and TRL 6 requires a prototype ground or flight engine system test. Currently, three different NTP ground test facility options are being investigated: exhaust scrubber, bore hole, and total exhaust containment. In parallel, a prototype flight demonstration test is also being studied. The first human mission to Mars in the 2030's is currently 2033. For an advanced propulsion concept to be seriously considered for use, the engine development plans need to show it is feasible and affordable to reach TRL 8 by 2027 and can be qualified for human mission use.

NASA Ames Science Instrument Launches Aboard New Mars Rover (CheMin)

NASA Image and Video Library

2011-11-23

When NASA's Mars Science Laboratory lands in a region known as Gale Crater in August of 2012, it will be poised to carry out the most sophisticated chemical analysis of the Martian surface to date. One of the 10 instruments on board the rover Curiosity will be CheMin - short for chemistry and mineralogy. Developed by Ames researcher David Blake and his team, it will use new technology to analyze and identify minerals in the Martian rocks and soil. Youtube: NASA Ames Scientists Develop MSL Science Instrument

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.

Roving Vehicles for Lunar and Planetary Exploration

NASA Technical Reports Server (NTRS)

2004-01-01

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

Wireless Rover Meets 3D Design and Product Development

ERIC Educational Resources Information Center

Deal, Walter F., III; Hsiung, Steve C.

2016-01-01

Today there are a number of 3D printing technologies that are low cost and within the budgets of middle and high school programs. Educational technology companies offer a variety of 3D printing technologies and parallel curriculum materials to enable technology and engineering teachers to easily add 3D learning activities to their programs.…

Power transmission by laser beam from lunar-synchronous satellite

NASA Technical Reports Server (NTRS)

Williams, M. D.; Deyoung, R. J.; Schuster, G. L.; Choi, S. H.; Dagle, J. E.; Coomes, E. P.; Antoniak, Z. I.; Bamberger, J. A.; Bates, J. M.; Chiu, M. A.

1993-01-01

The possibility of beaming power from synchronous lunar orbits (the L1 and L2 Lagrange points) to a manned long-range lunar rover is addressed. The rover and two versions of a satellite system (one powered by a nuclear reactor, the other by photovoltaics) are described in terms of their masses, geometries, power needs, missions, and technological capabilities. Laser beam power is generated by a laser diode array in the satellite and converted to 30 kW of electrical power at the rover. Present technological capabilities, with some extrapolation to near future capabilities, are used in the descriptions. The advantages of the two satellite/rover systems over other such systems and over rovers with onboard power are discussed along with the possibility of enabling other missions.

Non-Flow-Through Fuel Cell System Test Results and Demonstration on the SCARAB Rover

NASA Technical Reports Server (NTRS)

Scheidegger, Brianne, T.; Burke, Kenneth A.; Jakupca, Ian J.

2012-01-01

This paper describes the results of the demonstration of a non-flow-through PEM fuel cell as part of a power system on the SCARAB rover. A 16-cell non-flow-through fuel cell stack from Infinity Fuel Cell and Hydrogen, Inc. was incorporated into a power system designed to act as a range extender by providing power to the rover s hotel loads. This work represents the first attempt at a ground demonstration of this new technology aboard a mobile test platform. Development and demonstration were supported by the Office of the Chief Technologist s Space Power Systems Project and the Advanced Exploration System Modular Power Systems Project.

Spatial Coverage Planning for a Planetary Rover

NASA Technical Reports Server (NTRS)

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

2008-01-01

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

Adaptive Inner-Loop Rover Control

NASA Technical Reports Server (NTRS)

Kulkarni, Nilesh; Ippolito, Corey; Krishnakumar, Kalmanje; Al-Ali, Khalid M.

2006-01-01

Adaptive control technology is developed for the inner-loop speed and steering control of the MAX Rover. MAX, a CMU developed rover, is a compact low-cost 4-wheel drive, 4-wheel steer (double Ackerman), high-clearance agile durable chassis, outfitted with sensors and electronics that make it ideally suited for supporting research relevant to intelligent teleoperation and as a low-cost autonomous robotic test bed and appliance. The design consists of a feedback linearization based controller with a proportional - integral (PI) feedback that is augmented by an online adaptive neural network. The adaptation law has guaranteed stability properties for safe operation. The control design is retrofit in nature so that it fits inside the outer-loop path planning algorithms. Successful hardware implementation of the controller is illustrated for several scenarios consisting of actuator failures and modeling errors in the nominal design.

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

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

Technological innovations for human outposts on planetary bodies

NASA Technical Reports Server (NTRS)

Clark, Benton C.

1988-01-01

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

Terrain Modelling for Immersive Visualization for the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

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

2004-01-01

Immersive environments are being used to support mission operations at the Jet Propulsion Laboratory. This technology contributed to the Mars Pathfinder Mission in planning sorties for the Sojourner rover and is being used for the Mars Exploration Rover (MER) missions. The stereo imagery captured by the rovers is used to create 3D terrain models, which can be viewed from any angle, to provide a powerful and information rich immersive visualization experience. These technologies contributed heavily to both the mission success and the phenomenal level of public outreach achieved by Mars Pathfinder and MER. This paper will review the utilization of terrain modelling for immersive environments in support of MER.

Immersive environment technologies for planetary exploration with applications for mixed reality

NASA Technical Reports Server (NTRS)

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

2002-01-01

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

Non-Flow-Through Fuel Cell System Test Results and Demonstration on the SCARAB Rover

NASA Technical Reports Server (NTRS)

Scheidegger, Brianne; Burke, Kenneth; Jakupca, Ian

2012-01-01

This presentation describes the results of the demonstration of a non-flow-through PEM fuel cell as part of a power system on the SCARAB rover at the NASA Glenn Research Center. A 16-cell non-flow-through fuel cell stack from Infinity Fuel Cell and Hydrogen, Inc. was incorporated into a power system designed to act as a range extender by providing power to the SCARAB rover s hotel loads. The power system, including the non-flow-through fuel cell technology, successfully demonstrated its goal as a range extender by powering hotel loads on the SCARAB rover, making this demonstration the first to use the non-flow-through fuel cell technology on a mobile platform.

The Mars Surveyor '01 Rover and Robotic Arm

NASA Technical Reports Server (NTRS)

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

1999-01-01

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

Overhead View of Area Surrounding Pathfinder

NASA Technical Reports Server (NTRS)

1997-01-01

Overhead view of the area surrounding the Pathfinder lander illustrating the Sojourner traverse. Red rectangles are rover positions at the end of sols 1-30. Locations of soil mechanics experiments, wheel abrasion experiments, and APXS measurements are shown. The A numbers refer to APXS measurements as discussed in the paper by Rieder et al. (p. 1770, Science Magazine, see image note). Coordinates are given in the LL frame.

The photorealistic, interactive, three-dimensional virtual reality (VR) terrain models were created from IMP images using a software package developed for Pathfinder by C. Stoker et al. as a participating science project. By matching features in the left and right camera, an automated machine vision algorithm produced dense range maps of the nearfield, which were projected into a three-dimensional model as a connected polygonal mesh. Distance and angle measurements can be made on features viewed in the model using a mouse-driven three-dimensional cursor and a point-and-click interface. The VR model also incorporates graphical representations of the lander and rover and the sequence and spatial locations at which rover data were taken. As the rover moved, graphical models of the rover were added for each position that could be uniquely determined using stereo images of the rover taken by the IMP. Images taken by the rover were projected into the model as two-dimensional 'billboards' to show the proper perspective of these images.

NOTE: original caption as published in Science Magazine

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

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

NASA Astrophysics Data System (ADS)

Edwin, Lionel E.; Mazzoleni, Andre P.

2016-03-01

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

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

NASA Astrophysics Data System (ADS)

Santoli, S.

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

3min. poster presentations of B01

NASA Astrophysics Data System (ADS)

Foing, Bernard H.

We give a report on recommendations from ILEWG International conferences held at Cape Canaveral in 2008 (ICEUM10), and in Beijing in May 2010 with IAF (GLUC -ICEUM11). We discuss the different rationale for Moon exploration. Priorities for scientific investigations include: clues on the formation and evolution of rocky planets, accretion and bombardment in the inner solar system, comparative planetology processes (tectonic, volcanic, impact cratering, volatile delivery), historical records, astrobiology, survival of organics; past, present and future life. The ILEWG technology task group set priorities for the advancement of instrumenta-tion: Remote sensing miniaturised instruments; Surface geophysical and geochemistry package; Instrument deployment and robotic arm, nano-rover, sampling, drilling; Sample finder and collector. Regional mobility rover; Autonomy and Navigation; Artificially intelligent robots, Complex systems. The ILEWG ExogeoLab pilot project was developed as support for instru-ments, landers, rovers,and preparation for cooperative robotic village. The ILEWG lunar base task group looked at minimal design concepts, technologies in robotic and human exploration with Tele control, telepresence, virtual reality; Man-Machine interface and performances. The ILEWG ExoHab pilot project has been started with support from agencies and partners. We discuss ILEWG terrestrial Moon-Mars campaigns for validation of technologies, research and human operations. We indicate how Moon-Mars Exploration can inspire solutions to global Earth sustained development: In-Situ Utilisation of resources; Establishment of permanent robotic infrastructures, Environmental protection aspects; Life sciences laboratories; Support to human exploration. Co-Authors: ILEWG Task Groups on: Science, Technology, Robotic village, Lunar Bases , Commercial and Societal aspects, Roadmap synergies with other programmes, Public en-gagemnet and Outreach, Young Lunar Explorers.

Bringing NASA Technology Down to Earth

NASA Technical Reports Server (NTRS)

Lockney, Daniel P.; Taylor, Terry L.

2018-01-01

Whether putting rovers on Mars or sustaining life in extreme conditions, NASA develops technologies to solve some of the most difficult challenges ever faced. Through its Technology Transfer Program, the agency makes the innovations behind space exploration available to industry, academia, and the general public. This paper describes the primary mechanisms through which NASA disseminates technology to solve real-life problems; illustrates recent program accomplishments; and provides examples of spinoff success stories currently impacting everyday life.

MRSR: Rationale for a Mars Rover/Sample Return mission

NASA Technical Reports Server (NTRS)

Carr, Michael H.

1992-01-01

The Solar System Exploration Committee of the NASA Advisory Council has recommended that a Mars Rover/Sample Return mission be launched before the year 2000. The recommendation is consistent with the science objectives as outlined by the National Academy of Sciences committees on Planetary and Lunar Exploration, and Planetary Biology and Chemical Evolution. Interest has also focused on Mars Rover/Sample Return (MRSR) missions, because of their crucial role as precursors for human exploration. As a result of this consensus among the advisory groups, a study of an MRSR mission began early in 1987. The study has the following goals: (1) to assess the technical feasibility of the mission; (2) to converge on two or three options for the general architecture of the mission; (3) to determine what new technologies need to be developed in order to implement the mission; (4) to define the different options sufficiently well that preliminary cost estimates can be made; and (5) to better define the science requirements. This chapter briefly describes Mars Rover/Sample Return missions that were examined in the late 1980s. These missions generally include a large (1000 kg) rover and return of over 5 kg of sample.

Getting the Most from the Twin Mars Rovers

NASA Technical Reports Server (NTRS)

Laufenberg, Larry

2003-01-01

The report discusses the Mixed-initiative Activity Planning GENerator (MARGEN) automatically generates activity plans for rovers. Decision support system mixes autonomous planning/scheduling with user modifications. Accommodating change. Technology spotlight

Robotic Technology Efforts at the NASA/Johnson Space Center

NASA Technical Reports Server (NTRS)

Diftler, Ron

2017-01-01

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

Robotic Technology Efforts at the NASA/Johnson Space Center

NASA Technical Reports Server (NTRS)

Diftler, Ron

2017-01-01

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

EVA Physiology, Systems and Performance [EPSP] Project

NASA Technical Reports Server (NTRS)

Gernhardt, Michael L.

2010-01-01

This viewgraph presentation gives a general overview of the biomedical and technological challenges of Extravehicular Activity (EVA). The topics covered include: 1) Prebreathe Protocols; 2) Lunar Suit Testing and Development; and 3) Lunar Electric Rover and Exploration Operations Concepts.

Scientific Opportunities with ispace, a Lunar Exploration Company

NASA Astrophysics Data System (ADS)

Acierno, K. T.

2016-11-01

This presentation introduces ispace, a Tokyo-based lunar exploration company. Technology applied to the Team Hakuto Google Lunar XPRIZE mission will be described. Finally, it will discuss how developing low cost and mass efficient rovers can support scientific opportunities.

Planning for the V&V of infused software technologies for the Mars Science Laboratory Mission

NASA Technical Reports Server (NTRS)

Feather, Martin S.; Fesq, Lorraine M.; Ingham, Michel D.; Klein, Suzanne L.; Nelson, Stacy D.

2004-01-01

NASA's Mars Science Laboratory (MSL) rover mission is planning to make use of advanced software technologies in order to support fulfillment of its ambitious science objectives. The mission plans to adopt the Mission Data System (MDS) as the mission software architecture, and plans to make significant use of on-board autonomous capabilities for the rover software.

Ambler - An autonomous rover for planetary exploration

NASA Technical Reports Server (NTRS)

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

1989-01-01

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

Lithium-Ion Battery Program Status

NASA Technical Reports Server (NTRS)

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

1996-01-01

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

ARC-2008-ACD08-0216-006

NASA Image and Video Library

2008-09-23

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

ARC-2008-ACD08-0216-008

NASA Image and Video Library

2008-09-23

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

ARC-2008-ACD08-0216-007

NASA Image and Video Library

2008-09-23

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

A comparison of energy conversion systems for meeting the power requirements of manned rover for Mars missions

NASA Technical Reports Server (NTRS)

El-Genk, Mohamed S.; Morley, Nicholas; Cataldo, Robert; Bloomfield, Harvey

1990-01-01

Several types of conversion systems of interest for a nuclear Mars manned application are examined, including: free-piston Stirling engines (FPSE), He/Xe closed Brayton cycle (CBC), CO2 open Brayton, and SiGe/GaP thermoelectric systems. Optimization studies were conducted to determine the impact of the conversion system on the overall mass of the nuclear power system and the mobility power requirement of the rover vehicle. The results of an analysis of a manned Mars rover equipped with a nuclear reactor power system show that the free-piston Stirling engine and the He/Xe closed Brayton cycle are the best available options for minimizing the overall mass and electric power requirements of the rover vehicle. While the current development of Brayton technology is further advanced than that of FPSE, the FPSE could provide approximately 13.5 percent lower mass than the He/Xe closed Brayton system. Results show that a specific mass of 160 is achievable with FPSE, for which the mass of the radiation shield (2.8 tons) is about half that for He/Xe CBC (5 tons).

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

NASA Technical Reports Server (NTRS)

Bents, D. J.

1989-01-01

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

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

NASA Technical Reports Server (NTRS)

Carsey, Frank; Behar, Alberto

2004-01-01

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

SEI power source alternatives for rovers and other multi-kWe distributed surface applications

NASA Technical Reports Server (NTRS)

Bents, David J.; Kohout, L. L.; Mckissock, Barbara I.; Rodriguez, C. D.; Withrow, C. A.; Colozza, A.; Hanlon, James C.; Schmitz, Paul C.

1991-01-01

To support the Space Exploration Initiative (SEI), a study was performed to investigate power system alternatives for the rover vehicles and servicers that were subsequently generated for each of these rovers and servicers, candidate power sources incorporating various power generation and energy storage technologies were identified. The technologies were those believed most appropriate to the SEI missions, and included solar, electrochemical, and isotope systems. The candidates were characterized with respect to system mass, deployed area, and volume. For each of the missions a preliminary selection was made. Results of this study depict the available power sources in light of mission requirements as they are currently defined.

Electrical power technology for robotic planetary rovers

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

Airbag retraction

NASA Technical Reports Server (NTRS)

1997-01-01

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

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

Sojourner's APXS at Shark

NASA Technical Reports Server (NTRS)

1997-01-01

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

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

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

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.

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.;

Research on lunar and planet development and utilization

NASA Astrophysics Data System (ADS)

Iwata, Tsutomu; Etou, Takao; Imai, Ryouichi; Oota, Kazuo; Kaneko, Yutaka; Maeda, Toshihide; Takano, Yutaka

1992-08-01

Status of the study on unmanned and manned lunar missions, unmanned Mars missions, lunar resource development and utilization missions, remote sensing exploration missions, survey and review to elucidate the problems of research and development for lunar resource development and utilization, and the techniques and equipment for lunar and planet exploration are presented. Following items were studied respectively: (1) spacecraft systems for unmanned lunar missions, such as lunar observation satellites, lunar landing vehicles, lunar surface rovers, lunar surface hoppers, and lunar sample retrieval; (2) spacecraft systems for manned lunar missions, such as manned lunar bases, lunar surface operation robots, lunar surface experiment systems, manned lunar take-off and landing vehicles, and lunar freight transportation ships; (3) spacecraft systems for Mars missions, such as Mars satellites, Phobos and Deimos sample retrieval vehicles, Mars landing explorers, Mars rovers, Mars sample retrieval; (4) lunar resource development and utilization; and (5) remote sensing exploration technologies.

Space Telerobotics and Rover Research at JPL

NASA Technical Reports Server (NTRS)

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

1995-01-01

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

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.

Mars Mission Surface Operation Simulation Testing of Lithium-Ion Batteries

NASA Technical Reports Server (NTRS)

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

2003-01-01

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

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

NASA Technical Reports Server (NTRS)

Stoker, Carol

1994-01-01

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

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.

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.

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

NASA Technical Reports Server (NTRS)

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

2001-01-01

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

Mars: 2010 - 2020

NASA Technical Reports Server (NTRS)

Li, Fuk K.

2006-01-01

This slide presentation reviews the Mars Exploration program for the current decade and beyond. The potential items for procurements for the Mars Science Laboratory (MSL) are discussed, as well as future technology investments to enable to continued development of exploration of Mars by rovers and orbiters that are planned and envisioned for future missions.

78 FR 19742 - Centennial Challenges: 2014 Night Rover Challenge

Federal Register 2010, 2011, 2012, 2013, 2014

2013-04-02

... NATIONAL AERONAUTICS AND SPACE ADMINISTRATION [Notice 13-032] Centennial Challenges: 2014 Night... Centennial Challenges 2014 Night Rover Challenge. SUMMARY: This notice is issued in accordance with 51 U.S.C.... Centennial Challenges is a program of prize competitions to stimulate innovation in technologies of interest...

An Historical Perspective of the NERVA Nuclear Rocket Engine Technology Program

NASA Technical Reports Server (NTRS)

Robbins, W. H.; Finger, H. B.

1991-01-01

Nuclear rocket research and development was initiated in the United States in 1955 and is still being pursued to a limited extent. The major technology emphasis occurred in the decade of the 1960s and was primarily associated with the Rover/NERVA Program where the technology for a nuclear rocket engine system for space application was developed and demonstrated. The NERVA (Nuclear Engine for Rocket Vehicle Application) technology developed twenty years ago provides a comprehensive and viable propulsion technology base that can be applied and will prove to be valuable for application to the NASA Space Exploration Initiative (SEI). This paper, which is historical in scope, provides an overview of the conduct of the NERVA Engine Program, its organization and management, development philosophy, the engine configuration, and significant accomplishments.

Microsensors and Microinstruments for Space Science and Exploration

NASA Technical Reports Server (NTRS)

Kukkonen, C. A.; Venneri, S.

1997-01-01

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

Robotic Astrobiology: Searching for Life with Rovers

NASA Astrophysics Data System (ADS)

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

2006-05-01

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

Airbag retraction

NASA Technical Reports Server (NTRS)

1997-01-01

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

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

Lunar Regenerative Fuel Cell (RFC) Reliability Testing for Assured Mission Success

NASA Technical Reports Server (NTRS)

Bents, David J.

2009-01-01

NASA's Constellation program has selected the closed cycle hydrogen oxygen Polymer Electrolyte Membrane (PEM) Regenerative Fuel Cell (RFC) as its baseline solar energy storage system for the lunar outpost and manned rover vehicles. Since the outpost and manned rovers are "human-rated," these energy storage systems will have to be of proven reliability exceeding 99 percent over the length of the mission. Because of the low (TRL=5) development state of the closed cycle hydrogen oxygen PEM RFC at present, and because there is no equivalent technology base in the commercial sector from which to draw or infer reliability information from, NASA will have to spend significant resources developing this technology from TRL 5 to TRL 9, and will have to embark upon an ambitious reliability development program to make this technology ready for a manned mission. Because NASA would be the first user of this new technology, NASA will likely have to bear all the costs associated with its development.When well-known reliability estimation techniques are applied to the hydrogen oxygen RFC to determine the amount of testing that will be required to assure RFC unit reliability over life of the mission, the analysis indicates the reliability testing phase by itself will take at least 2 yr, and could take up to 6 yr depending on the number of QA units that are built and tested and the individual unit reliability that is desired. The cost and schedule impacts of reliability development need to be considered in NASA's Exploration Technology Development Program (ETDP) plans, since life cycle testing to build meaningful reliability data is the only way to assure "return to the moon, this time to stay, then on to Mars" mission success.

Electrical and computer architecture of an autonomous Mars sample return rover prototype

NASA Astrophysics Data System (ADS)

Leslie, Caleb Thomas

Space truly is the final frontier. As man looks to explore beyond the confines of our planet, we use the lessons learned from traveling to the Moon and orbiting in the International Space Station, and we set our sights upon Mars. For decades, Martian probes consisting of orbiters, landers, and even robotic rovers have been sent to study Mars. Their discoveries have yielded a wealth of new scientific knowledge regarding the Martian environment and the secrets it holds. Armed with this knowledge, NASA and others have begun preparations to send humans to Mars with the ultimate goal of colonization and permanent human habitation. The ultimate success of any long term manned mission to Mars will require in situ resource utilization techniques and technologies to both support their stay and make a return trip to Earth viable. A sample return mission to Mars will play a pivotal role in developing these necessary technologies to ensure such an endeavor to be a successful one. This thesis describes an electrical and computer architecture for autonomous robotic applications. The architecture is one that is modular, scalable, and adaptable. These traits are achieved by maximizing commonality and reusability within modules that can be added, removed, or reconfigured within the system. This architecture, called the Modular Architecture for Autonomous Robotic Systems (MAARS), was implemented on the University of Alabama's Collection and Extraction Rover for Extraterrestrial Samples (CERES). The CERES rover competed in the 2016 NASA Sample Return Robot Challenge where robots were tasked with autonomously finding, collecting, and returning samples to the landing site.

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

NASA Technical Reports Server (NTRS)

Bualat, Maria; Fong, Terrence

2013-01-01

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

Overview of the NASA automation and robotics research program

NASA Technical Reports Server (NTRS)

Holcomb, Lee; Larsen, Ron

1985-01-01

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

Microrover Research for Exploration of Mars

NASA Technical Reports Server (NTRS)

Hayati, Samad; Volpe, Richard; Backes, Paul; Balaram, J.; Welch, Richard

1996-01-01

There is great interest in the science community to explore Mars by using microrovers that carry seveal science instruments and are capable of traversing long distances[1]. NASA has planned six additional missions to Mars for 2001, 2003, and 2005. There is an excellent chance that rovers will be utilized in some of these missions. Such rovers would traverse to sites separated by seveal kilometers and place instruments against outcrops or loose rocks, search an area for a sample of interest, and collect rocks and soil samples for return to Earth (2005 mission). Our research objectives are to develop technologies that enable such scenarios within the mission constraints of mass, power, volume, and cost.

Sojourner Rover Tracks in Compressible Soil

NASA Technical Reports Server (NTRS)

1997-01-01

Sojourner's observations in the Ares region on Mars raise and answer questions about the origins of the rocks and other deposits found there. Deposits are not the same everywhere. In compressible soil, a rover wheel produced ruts with steep walls, marginal slumps, and nearly perfect reflective casts of the spacing between the cleats.

NOTE: original caption as published in Science Magazine

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

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.

Exomars 2018 Rover Pasteur Payload

NASA Astrophysics Data System (ADS)

Debus, Andre; Bacher, M.; Ball, A.; Barcos, O.; Bethge, B.; Gaubert, F.; Haldemann, A.; Lindner, R.; Pacros, A.; Trautner, R.; Vag, J.

ars programme is a joint ESA-NASA program having exobiology as one of the key science objectives. It is divided into 2 missions: the first mission is ESA-led with an ESA orbiter and an ESA Entry, Descent and Landing (EDL) demonstrator, launched in 2016 by NASA, and the second mission is NASA-led, launched in 2018 by NASA carrying an ESA rover and a NASA rover both deployed by a single NASA EDL system. For ESA, the ExoMars programme will demonstrate key flight and in situ enabling technologies in support of the European ambitions for future exploration missions, as outlined in the Aurora Declaration. While the ExoMars 2016 mission will accomplish a technological objective (Entry, Descent and Landing of a payload on the surface) and a Scientific objective (investigation of Martian atmospheric trace gases and their sources, focussing particularly on methane), the ExoMars 2018 ESA Rover will carry a comprehensive and coherent suite of analytical instruments dedicated to exobiology and geology research: the Pasteur Payload (PPL). This payload includes a selection of complementary instruments, having the following goals: to search for signs of past and present life on Mars and to investigate the water/geochemical environment as a function of depth in the shallow subsurface. The ExoMars Rover includes a drill for accessing underground materials, and a Sample Preparation and Distribution System. The Rover will travel several kilometres looking for sites warranting further investigation, where it will collect and analyse samples from within outcrops and from the subsurface for traces of complex organic molecules. In addition to further details on this Exomars 2018 rover mission, this presentation will focus on the scientific objectives and the instruments needed to achieve them, including details of how the Pasteur Payload as a whole addresses Mars research objectives.

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.

Inspection with Robotic Microscopic Imaging

NASA Technical Reports Server (NTRS)

Pedersen, Liam; Deans, Matthew; Kunz, Clay; Sargent, Randy; Chen, Alan; Mungas, Greg

2005-01-01

Future Mars rover missions will require more advanced onboard autonomy for increased scientific productivity and reduced mission operations cost. One such form of autonomy can be achieved by targeting precise science measurements to be made in a single command uplink cycle. In this paper we present an overview of our solution to the subproblems of navigating a rover into place for microscopic imaging, mapping an instrument target point selected by an operator using far away science camera images to close up hazard camera images, verifying the safety of placing a contact instrument on a sample or finding nearby safe points, and analyzing the data that comes back from the rover. The system developed includes portions used in the Multiple Target Single Cycle Instrument Placement demonstration at NASA Ames in October 2004, and portions of the MI Toolkit delivered to the Athena Microscopic Imager Instrument Team for the MER mission still operating on Mars today. Some of the component technologies are also under consideration for MSL mission infusion.

PISCES: A "Stepping Stone" to International Space Exploration and Development

NASA Technical Reports Server (NTRS)

Howell, Joe T.; Henley, Mark W.; Schowengerdt, Frank

2007-01-01

The Pacific International Space Center for Exploration Systems (PISCES) was initiated by the Japan/US Science, Technology and Space Application Programs (JUSTSAP) to advance research and education in space exploration technology and systems working closely with the State of Hawaii. Hawaii has a heritage with space exploration including the training of Apollo astronauts and testing of lunar rover systems in some of the most realistic terrestrial sites available. The high altitude dry environment with greater solar insolation, and the dry lunar regolith-like volcanic ash and cratered terrain make Hawaiian sites ideal to support, international space exploration technology development, demonstration, education and training. This paper will summarize development and roles of PISCES in lunar surface analogs, simulations, technology demonstrations, research and training for space exploration technology and systems.

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.

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

NASA Technical Reports Server (NTRS)

Bents, David J.

1989-01-01

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

Lunokhod 2 - A retrospective Glance after 30 Years

NASA Astrophysics Data System (ADS)

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

2003-04-01

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

Design of a Day/Night Lunar Rover

NASA Astrophysics Data System (ADS)

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

1995-06-01

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

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

NASA Technical Reports Server (NTRS)

Harrington, Brian D.; Voorhees, Chris

2004-01-01

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

Robotic Mission to Mars: Hands-on, minds-on, web-based learning

NASA Astrophysics Data System (ADS)

Mathers, Naomi; Goktogen, Ali; Rankin, John; Anderson, Marion

2012-11-01

Problem-based learning has been demonstrated as an effective methodology for developing analytical skills and critical thinking. The use of scenario-based learning incorporates problem-based learning whilst encouraging students to collaborate with their colleagues and dynamically adapt to their environment. This increased interaction stimulates a deeper understanding and the generation of new knowledge. The Victorian Space Science Education Centre (VSSEC) uses scenario-based learning in its Mission to Mars, Mission to the Orbiting Space Laboratory and Primary Expedition to the M.A.R.S. Base programs. These programs utilize methodologies such as hands-on applications, immersive-learning, integrated technologies, critical thinking and mentoring to engage students in Science, Technology, Engineering and Mathematics (STEM) and highlight potential career paths in science and engineering. The immersive nature of the programs demands specialist environments such as a simulated Mars environment, Mission Control and Space Laboratory, thus restricting these programs to a physical location and limiting student access to the programs. To move beyond these limitations, VSSEC worked with its university partners to develop a web-based mission that delivered the benefits of scenario-based learning within a school environment. The Robotic Mission to Mars allows students to remotely control a real rover, developed by the Australian Centre for Field Robotics (ACFR), on the VSSEC Mars surface. After completing a pre-mission training program and site selection activity, students take on the roles of scientists and engineers in Mission Control to complete a mission and collect data for further analysis. Mission Control is established using software developed by the ACRI Games Technology Lab at La Trobe University using the principles of serious gaming. The software allows students to control the rover, monitor its systems and collect scientific data for analysis. This program encourages students to work scientifically and explores the interaction between scientists and engineers. This paper presents the development of the program, including the involvement of university students in the development of the rover, the software, and the collation of the scientific data. It also presents the results of the trial phase of this program including the impact on student engagement and learning outcomes.

Sojourner near the Rock Garden

NASA Technical Reports Server (NTRS)

1997-01-01

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

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

Yogi the rock

NASA Technical Reports Server (NTRS)

1997-01-01

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

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

Student Participation in Rover Field Trials

NASA Astrophysics Data System (ADS)

Bowman, C. D.; Arvidson, R. E.; Nelson, S. V.; Sherman, D. M.; Squyres, S. W.

2001-12-01

The LAPIS program was developed in 1999 as part of the Athena Science Payload education and public outreach, funded by the JPL Mars Program Office. For the past three years, the Athena Science Team has been preparing for 2003 Mars Exploration Rover Mission operations using the JPL prototype Field Integrated Design and Operations (FIDO) rover in extended rover field trials. Students and teachers participating in LAPIS work with them each year to develop a complementary mission plan and implement an actual portion of the annual tests using FIDO and its instruments. LAPIS is designed to mirror an end-to-end mission: Small, geographically distributed groups of students form an integrated mission team, working together with Athena Science Team members and FIDO engineers to plan, implement, and archive a two-day test mission, controlling FIDO remotely over the Internet using the Web Interface for Telescience (WITS) and communicating with each other by email, the web, and teleconferences. The overarching goal of LAPIS is to get students excited about science and related fields. The program provides students with the opportunity to apply knowledge learned in school, such as geometry and geology, to a "real world" situation and to explore careers in science and engineering through continuous one-on-one interactions with teachers, Athena Science Team mentors, and FIDO engineers. A secondary goal is to help students develop improved communication skills and appreciation of teamwork, enhanced problem-solving skills, and increased self-confidence. The LAPIS program will provide a model for outreach associated with future FIDO field trials and the 2003 Mars mission operations. The base of participation will be broadened beyond the original four sites by taking advantage of the wide geographic distribution of Athena team member locations. This will provide greater numbers of students with the opportunity to actively engage in rover testing and to explore the possibilities of science, engineering, and technology.

Exomars 2018 Rover Pasteur Payload Sample Analysis

NASA Astrophysics Data System (ADS)

Debus, Andre; Bacher, M.; Ball, A.; Barcos, O.; Bethge, B.; Gaubert, F.; Haldemann, A.; Kminek, G.; Lindner, R.; Pacros, A.; Rohr, T.; Trautner, R.; Vago, J.

The ExoMars programme is a joint ESA-NASA program having exobiology as one of the key science objectives. It is divided into 2 missions: the first mission is ESA-led with an ESA orbiter and an ESA Entry, Descent and Landing (EDL) demonstrator, launched in 2016 by NASA, and the second mission is NASA-led, launched in 2018 by NASA including an ESA rover and a NASA rover both deployed by a single NASA EDL system. For ESA, the ExoMars programme will demonstrate key flight and in situ enabling technologies in support of the European ambitions for future exploration missions, as outlined in the Aurora Declaration. The ExoMars 2018 ESA Rover will carry a comprehensive and coherent suite of analytical instruments dedicated to exobiology and geology research: the Pasteur Payload (PPL). This payload includes a selection of complementary instruments, having the following goals: to search for signs of past and present life on Mars and to investigate the water/geochemical environment as a function of depth in the shallow subsurface. The ExoMars Rover will travel several kilometres searching for sites warranting further investigation. The Rover includes a drill and a Sample Preparation and Distribution System which will be used to collect and analyse samples from within outcrops and from the subsurface. The Rover systems and instruments, in particular those located inside the Analytical Laboratory Drawer must meet many stringent requirements to be compatible with exobiologic investigations: the samples must be maintained in a cold and uncontaminated environment, requiring sterile and ultraclean preparation of the instruments, to preserve volatile materials and to avoid false positive results. The value of the coordinated observations suggests that a significant return on investment is to be expected from this complex development. We will present the challenges facing the ExoMars PPL, and the plans for sending a robust exobiology laboratory to Mars in 2018.

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.

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

Agile: From Software to Mission System

NASA Technical Reports Server (NTRS)

Trimble, Jay; Shirley, Mark H.; Hobart, Sarah Groves

2016-01-01

The Resource Prospector (RP) is an in-situ resource utilization (ISRU) technology demonstration mission, designed to search for volatiles at the Lunar South Pole. This is NASA's first near real time tele-operated rover on the Moon. The primary objective is to search for volatiles at one of the Lunar Poles. The combination of short mission duration, a solar powered rover, and the requirement to explore shadowed regions makes for an operationally challenging mission. To maximize efficiency and flexibility in Mission System design and thus to improve the performance and reliability of the resulting Mission System, we are tailoring Agile principles that we have used effectively in ground data system software development and applying those principles to the design of elements of the mission operations system.

Development of Autonomous Optimal Cooperative Control in Relay Rover Configured Small Unmanned Aerial Systems

DTIC Science & Technology

2013-03-01

Unmanned Aircraft Systems Flight Plan that identified small unmanned aerial systems ( SUAS ) as “a profound technological...advances in small unmanned aerial systems ( SUAS ) cooperative control. The end state objective of the research effort was to flight test an autonomous...requirements were captured in the Unmanned Aircraft Systems Flight Plan . The flight plan

Curiosity Rover's First Anniversary

NASA Image and Video Library

2013-08-06

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

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.

Micro-technology for planetary exploration and education

NASA Technical Reports Server (NTRS)

Miller, David P.; Varsi, Giulio

1991-01-01

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

Russian contribution to the ExoMars project

NASA Astrophysics Data System (ADS)

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

2014-04-01

The ExoMars ESA-led mission is dedicated to study of Mars and in particular its habitability. It consists of two launches, one planned in 2016 to deliver to Mars a telecommunication and science orbiter Trace Gas Orbiter (TGO) and a demonstrator of entry into the atmosphere and landing on the Mars surface, Entry, Descent and Landing Demonstrator Module (EDM). In 2018 a rover with drilling capability will be delivered to the surface of Mars. Since 2012 this mission, previously planned in cooperation with NASA is being developed in cooperation with Roscosmos. Both launches are planned with Proton-Breeze. In 2016 Russia contributes a significant part of the TGO science payload. In 2018 the landing will be provided by a joint effort capitalizing on the EDM technology. Russia contributes few science instruments for the rover, and leads the development of a long-living geophysical platform on the surface of Mars. Russian science instruments for TGO, the Atmospheric Chemistry Suite (ACS) and the Fine Resolution Epithermal Neutrons Detector (FREND) constituent a half of its scientific payload, European instrument being NOMAD for mapping and detection of trace species, and CASSIS camera for high-resolution mapping of target areas. The ACS package consists of three spectrometers covering spectral range from 0.7 to 17 μm with spectral resolving power reaching 50000. It is dedicated to studies of the composition of the Martian atmosphere and the Martian climate. FREND is a neutron detector with a collimation module, which significantly narrows the field of view of the instrument, allowing to create higher resolution maps of hydrogen-abundant regions on Mars. The spatial resolution of FREND will be ~40 km from the 400- km TGO orbit that is ~10 times better than HEND on Mars-Odyssey. Additionally, FREND includes a dosimeter module for monitoring radiation levels in orbit around Mars. In the 2018 mission, Russia takes the major responsibility of the descent module. The primary goal of the descent module consists of the delivery of the 300-kg rover on the surface. The full mass of the module should not exceed 2000 kg. An aerodynamic shield and a parachute system assure the entry phase. A descent scenario with integrated retro-propulsion engines and landing on feet is being developed. Subsystems of the descend module are supplied by both Roscosmos and ESA. On the rover, Russia contributes two science instruments. ADRON-RM is a passive neutron detector to assess water contents in the Mars surface along the rover track. ISEM is a pencil-beam infrared spectrometer mounted at the mast of the rover and is primarily dedicated for the assessment of mineralogical composition, operating in coordination with high-resolution channel of PANCAM. Both instruments will assist with planning rover traverse, rover targeting operations, and sample selection. A major effort of the Russian science is concentrated on the 2018 landing platform. This is the part of the descent module remaining immobile after the rover egress. The platform, or the longliving geophysical station shall have guaranteed lifetime of one Martian year, and will be able to accommodate up to 50 kg of science payload. The final list of science investigations, which is yet to be finalized, includes the meteorological station, instruments to analyse atmospheric composition, geophysical instruments. Other investigations will provide analyses of the surface/shallow subsurface material complimentary to these on the rover, and other experiments, if resources permit. Current status of the project and the developments will be presented

Middleware and Web Services for the Collaborative Information Portal of NASA's Mars Exploration Rovers Mission

NASA Technical Reports Server (NTRS)

Sinderson, Elias; Magapu, Vish; Mak, Ronald

2004-01-01

We describe the design and deployment of the middleware for the Collaborative Information Portal (CIP), a mission critical J2EE application developed for NASA's 2003 Mars Exploration Rover mission. CIP enabled mission personnel to access data and images sent back from Mars, staff and event schedules, broadcast messages and clocks displaying various Earth and Mars time zones. We developed the CIP middleware in less than two years time usins cutting-edge technologies, including EJBs, servlets, JDBC, JNDI and JMS. The middleware was designed as a collection of independent, hot-deployable web services, providing secure access to back end file systems and databases. Throughout the middleware we enabled crosscutting capabilities such as runtime service configuration, security, logging and remote monitoring. This paper presents our approach to mitigating the challenges we faced, concluding with a review of the lessons we learned from this project and noting what we'd do differently and why.

Shark

NASA Technical Reports Server (NTRS)

1997-01-01

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

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

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.

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.

Development and Buildup of a Stirling Radioisotope Generator Electrical Simulator

NASA Technical Reports Server (NTRS)

Prokop, Norman F.; Krasowski, Michael J.; Greer, Lawrence C.; Flatico, Joseph M.; Spina, Dan C.

2008-01-01

This paper describes the development of a Stirling Radioisotope Generator (SRG) Simulator for use in a prototype lunar robotic rover. The SRG developed at NASA Glenn Research Center (GRC) is a promising power source for the robotic exploration of the sunless areas of the moon. The simulator designed provides a power output similar to the SRG output of 5.7 A at 28 Vdc, while using ac wall power as the input power source. The designed electrical simulator provides rover developers the physical and electrical constraints of the SRG supporting parallel development of the SRG and rover. Parallel development allows the rover design team to embrace the SRG s unique constraints while development of the SRG is continued to a flight qualified version.

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.

Evaluation of Composite Structures Technologies for Application to NASA's Vision for Space Exploration (CoSTS)

NASA Technical Reports Server (NTRS)

Deo, Ravi; Wang, Donny; Bohlen, Jim; Fukuda, Cliff

2008-01-01

A trade study was conducted to determine the suitability of composite structures for weight and life cycle cost savings in primary and secondary structural systems for crew exploration vehicles, crew and cargo launch vehicles, landers, rovers, and habitats. The results of the trade study were used to identify and rank order composite material technologies that can have a near-term impact on a broad range of exploration mission applications. This report recommends technologies that should be developed to enable usage of composites on Vision for Space Exploration vehicles towards mass and life-cycle cost savings.

Nuclear technology and the space exploration missions

NASA Technical Reports Server (NTRS)

Brandhorst, Henry W.; Sovie, Ronald J.

1990-01-01

The strategy for a major exploration initiative leading to permanent human presence beyond earth orbit is still being developed; however enough is known to begin defining the role of nuclear technologies. Three broad areas are discussed: low power (less than 10 kWe) rover/vehicle power systems; integrated, evolutionary base power systems (25 to 100 kW) and nuclear energy for electric propulsion (2 to 100 MWe); and direct thermal propulsion (1000s MW). A phased, evolutionary approach is described for both the moon and Mars, and the benefits of nuclear technologies relative to solar and their integration are described.

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.

An historical collection of papers on nuclear thermal propulsion

NASA Astrophysics Data System (ADS)

The present volume of historical papers on nuclear thermal propulsion (NTP) encompasses NTP technology development regarding solid-core NTP technology, advanced concepts from the early years of NTP research, and recent activities in the field. Specific issues addressed include NERVA rocket-engine technology, the development of nuclear rocket propulsion at Los Alamos, fuel-element development, reactor testing for the Rover program, and an overview of NTP concepts and research emphasizing two decades of NASA research. Also addressed are the development of the 'nuclear light bulb' closed-cycle gas core and a demonstration of a fissioning UF6 gas in an argon vortex. The recent developments reviewed include the application of NTP to NASA's Lunar Space Transportation System, the use of NTP for the Space Exploration Initiative, and the development of nuclear rocket engines in the former Soviet Union.

Automation &robotics for future Mars exploration

NASA Astrophysics Data System (ADS)

Schulte, W.; von Richter, A.; Bertrand, R.

2003-04-01

Automation and Robotics (A&R) are currently considered as a key technology for Mars exploration. initiatives in this field aim at developing new A&R systems and technologies for planetary surface exploration. Kayser-Threde led the study AROMA (Automation &Robotics for Human Mars Exploration) under ESA contract in order to define a reference architecture of A&R elements in support of a human Mars exploration program. One of the goals was to define new developments and to maintain the competitiveness of European industry within this field. We present a summary of the A&R study in respect to a particular system: The Autonomous Research Island (ARI). In the Mars exploration scenario initially a robotic outpost system lands at pre-selected sites in order to search for life forms and water and to analyze the surface, geology and atmosphere. A&R systems, i.e. rovers and autonomous instrument packages, perform a number of missions with scientific and technology development objectives on the surface of Mars as part of preparations for a human exploration mission. In the Robotic Outpost Phase ARI is conceived as an automated lander which can perform in-situ analysis. It consists of a service module and a micro-rover system for local investigations. Such a system is already under investigation and development in other TRP activities. The micro-rover system provides local mobility for in-situ scientific investigations at a given landing or deployment site. In the long run ARI supports also human Mars missions. An astronaut crew would travel larger distances in a pressurized rover on Mars. Whenever interesting features on the surface are identified, the crew would interrupt the travel and perform local investigations. In order to save crew time ARI could be deployed by the astronauts to perform time-consuming investigations as for example in-situ geochemistry analysis of rocks/soil. Later, the crew could recover the research island for refurbishment and deployment at another site. In the frame of near-term Mars exploration a dedicated exobiology mission is envisaged. Scientific and technical studies for a facility to detect the evidence of past of present life have been carried out under ESA contract. Mars soil/rock samples are to be analyzed for their morphology, organic and inorganic composition using a suite of scientific instruments. Robotic devices, e.g. for the acquisition, handling and onboard processing of Mars sample material retrieved from different locations, and surface mobility are important elements in a fully automated mission. Necessary robotic elements have been identified in past studies. Their realization can partly be based on heritage of existing space hardware, but will require dedicated development effort.

Rationale and Roadmap for Moon Exploration

NASA Astrophysics Data System (ADS)

Foing, B. H.; ILEWG Team

We discuss the different rationale for Moon exploration. This starts with areas of scientific investigations: clues on the formation and evolution of rocky planets, accretion and bombardment in the inner solar system, comparative planetology processes (tectonic, volcanic, impact cratering, volatile delivery), records astrobiology, survival of organics; past, present and future life. The rationale includes also the advancement of instrumentation: Remote sensing miniaturised instruments; Surface geophysical and geochemistry package; Instrument deployment and robotic arm, nano-rover, sampling, drilling; Sample finder and collector. There are technologies in robotic and human exploration that are a drive for the creativity and economical competitivity of our industries: Mecha-electronics-sensors; Tele control, telepresence, virtual reality; Regional mobility rover; Autonomy and Navigation; Artificially intelligent robots, Complex systems, Man-Machine interface and performances. Moon-Mars Exploration can inspire solutions to global Earth sustained development: In-Situ Utilisation of resources; Establishment of permanent robotic infrastructures, Environmental protection aspects; Life sciences laboratories; Support to human exploration. We also report on the IAA Cosmic Study on Next Steps In Exploring Deep Space, and ongoing IAA Cosmic Studies, ILEWG/IMEWG ongoing activities, and we finally discuss possible roadmaps for robotic and human exploration, starting with the Moon-Mars missions for the coming decade, and building effectively on joint technology developments.

Hole at Buckskin Drilled Days Before Landing Anniversary

NASA Image and Video Library

2015-08-05

NASA's Curiosity Mars Rover drilled this hole to collect sample material from a rock target called "Buckskin" on July 30, 2015, during the 1060th Martian day, or sol, of the rover's work on Mars. The diameter is slightly smaller than a U.S. dime. Curiosity landed on Mars on Aug. 6, 2012, Universal Time (evening of Aug. 5, PDT). The rover took this image with the Mars Hand Lens Imager (MAHLI) camera, which is mounted on the same robotic arm as the sample-collecting drill. Rock powder from the collected sample was subsequently delivered to a laboratory inside the rover for analysis. The rover's drill did not experience any sign during this sample collection of an intermittent short-circuiting issue that was detected earlier in 2015. The Buckskin target is in an area near "Marias Pass" on lower Mount Sharp where Curiosity had detected unusually high levels of silica and hydrogen. 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/PIA19804

Lunar Surface Operations with Dual Rovers

NASA Technical Reports Server (NTRS)

Horz, Friedrich; Lofgren, Gary E.; Eppler, Dean E.; Ming, Douglas

2010-01-01

Lunar Electric Rovers (LER) are currently being developed that are substantially more capable than the Apollo vehicle (LRN ,"). Unlike the LRV, the new LERs provide a pressurized cabin that serves as short-sleeve environment for the crew of two, including sleeping accommodations and other provisions that allow for long tern stays, possibly up to 60 days, on the hear surface, without the need to replenish consumables from some outside source, such as a lander or outpost. As a consequence, significantly larger regions may be explored in the future and traverse distances may be measured in a few hundred kilometers (1, 2). However, crew safety remains an overriding concern, and methods other than "walk back", the major operational constraint of all Apollo traverses, must be implemented to assure -at any time- the safe return of the crew to the lander or outpost. This then causes current Constellation plans to envision long-tern traverses to be conducted with 2 LERs exclusively, each carrying a crew of two: in case one rover fails, the other will rescue the stranded crew and return all 4 astronauts in a single LER to base camp. Recent Desert Research and Technology Studies (DRATS) analog field tests simulated a continuous 14 day traverse (3), covering some 135 km, and included a rescue operation that transferred the crew and diverse consumables from one LER to another these successful tests add substantial realism to the development of long-term, dual rover operations. The simultaneous utilization of 2 LERs is of course totally unlike Apollo and raises interesting issues regarding science productivity and mission operations, the thrust of this note.

Mars Exploration Rover Surface Operations

NASA Astrophysics Data System (ADS)

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

2002-01-01

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

Desert Research and Technology Studies 2008 Report

NASA Technical Reports Server (NTRS)

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

2009-01-01

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

Diversity of soils near rover deploy region

NASA Technical Reports Server (NTRS)

1997-01-01

The surface near the rover's egress from the lander contains mainly bright red drift (#1), dark gray rocks such as Cradle (# 3), soil intermediate in color to the rocks and drift (#2), and dark red soil on and around the rock Lamb (#4). Globally, Mars is characterized by similar color variations. The spectra, measured using the full 13-color capability of the Imager for Mars Pathfinder (IMP), provide evidence for the mineralogy of the unweathered rocks and highly weathered red soils.

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

Status of the ExoMars Project

NASA Astrophysics Data System (ADS)

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

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

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.

Design And Construction Of A Miniaturized Motor Controller For Interplanetary Rover

NASA Astrophysics Data System (ADS)

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

2011-10-01

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

Mission Implementation Constraints on Planetary Muon Radiography

NASA Technical Reports Server (NTRS)

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

2011-01-01

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

Non-Flow Through Fuel Cell Power Module Demonstration on the SCARAB Rover

NASA Technical Reports Server (NTRS)

Jakupca, Ian; Guzik, Monica; Bennett, William R.; Edwards, Lawrence

2017-01-01

NASA demonstrated the Advanced Product Water Removal (APWR) Non-Flow-Through (NFT) PEM fuel cell technology by powering the Scarab rover over three-(3) days of field operations. The latest generation APWR NFT fuel cell stackwas packaged by the Advanced Exploration Systems (AES) Modular Power Systems (AMPS) team into a nominallyrated 1-kW fuel cell power module. This power module was functionally verified in a laboratory prior to field operations on the Scarab rover, which concluded on 2 September 2015. During this demonstration, the power module satisfied all required success criteria by supporting all electrical loads as the Scarab navigated the NASA Glenn Research Center.

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.

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.

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

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

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

NASA Technical Reports Server (NTRS)

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

2011-01-01

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

Spatial Coverage Planning for Exploration Robots

NASA Technical Reports Server (NTRS)

Gaines, Daniel; Estlin, Tara; Chouinard, Caroline

2007-01-01

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

Using Existing NASA Satellites as Orbiting Testbeds to Accelerate Technology Infusion into Future Missions

NASA Technical Reports Server (NTRS)

Mandl, Daniel; Ly, Vuong; Frye, Stuart

2006-01-01

One of the shared problems for new space mission developers is that it is extremely difficult to infuse new technology into new missions unless that technology has been flight validated. Therefore, the issue is that new technology is required to fly on a successful mission for flight validation. We have been experimenting with new technology on existing satellites by retrofitting primarily the flight software while the missions are on-orbit to experiment with new operations concepts. Experiments have been using Earth Observing 1 (EO-1), which is part of the New Millennium Program at NASA. EO-1 finished its prime mission one year after its launch on November 21,2000. From November 21,2001 until the present, EO-1 has been used in parallel with additional science data gathering to test out various sensor web concepts. Similarly, the Cosmic Hot Interstellar Plasma Spectrometer (CHIPS) satellite was also a one year mission flown by the University of Berkeley, sponsored by NASA and whose prime mission ended August 30,2005. Presently, CHIPS is being used to experiment with a seamless space to ground interface by installing Core Flight System (cFS), a "plug-and-play" architecture developed by the Flight Software Branch at NASA/GSFC on top of the existing space-to-ground Internet Protocol (IP) interface that CHIPS implemented. For example, one targeted experiment is to connect CHIPS to a rover via this interface and the Internet, and trigger autonomous actions on CHIPS, the rover or both. Thus far, having satellites to experiment with new concepts has turned out to be an inexpensive way to infuse new technology for future missions. Relevant experiences thus far and future plans will be discussed in this presentation.

Development of Life Support System Technologies for Human Lunar Missions

NASA Technical Reports Server (NTRS)

Barta, Daniel J.; Ewert, Michael K.

2009-01-01

With the Preliminary Design Review (PDR) for the Orion Crew Exploration Vehicle planned to be completed in 2009, Exploration Life Support (ELS), a technology development project under the National Aeronautics and Space Administration s (NASA) Exploration Technology Development Program, is focusing its efforts on needs for human lunar missions. The ELS Project s goal is to develop and mature a suite of Environmental Control and Life Support System (ECLSS) technologies for potential use on human spacecraft under development in support of U.S. Space Exploration Policy. ELS technology development is directed at three major vehicle projects within NASA s Constellation Program (CxP): the Orion Crew Exploration Vehicle (CEV), the Altair Lunar Lander and Lunar Surface Systems, including habitats and pressurized rovers. The ELS Project includes four technical elements: Atmosphere Revitalization Systems, Water Recovery Systems, Waste Management Systems and Habitation Engineering, and two cross cutting elements, Systems Integration, Modeling and Analysis, and Validation and Testing. This paper will provide an overview of the ELS Project, connectivity with its customers and an update to content within its technology development portfolio with focus on human lunar missions.

A preliminary study of Mars rover/sample return missions

NASA Technical Reports Server (NTRS)

1987-01-01

The Solar System Exploration Committee (SSEC) of the NASA Advisory Council recommends that a Mars Sample Return mission be undertaken before the year 2000. Comprehensive studies of a Mars Sample Return mission have been ongoing since 1984. The initial focus of these studies was an integrated mission concept with the surface rover and sample return vehicle elements delivered to Mars on a single launch and landed together. This approach, to be carried out as a unilateral U.S. initiative, is still a high priority goal in an Augmented Program of exploration, as the SSEC recommendation clearly states. With this background of a well-understood mission concept, NASA decided to focus its 1986 study effort on a potential opportunity not previously examined; namely, a Mars Rover/Sample Return (MRSR) mission which would involve a significant aspect of international cooperation. As envisioned, responsibility for the various mission operations and hardware elements would be divided in a logical manner with clearly defined and acceptable interfaces. The U.S. and its international partner would carry out separately launched but coordinated missions with the overall goal of accomplishing in situ science and returning several kilograms of surface samples from Mars. Important considerations for implementation of such a plan are minimum technology transfer, maximum sharing of scientific results, and independent credibility of each mission role. Under the guidance and oversight of a Mars Exploration Strategy Advisory Group organized by NASA, a study team was formed in the fall of 1986 to develop a preliminary definition of a flight-separable, cooperative mission. The selected concept assumes that the U.S. would undertake the rover mission with its sample collection operations and our international partner would return the samples to Earth. Although the inverse of these roles is also possible, this study report focuses on the rover functions of MRSR because rover operations have not been studied in as much detail as the sample return functions of the mission.

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.

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.

Recapturing Graphite-Based Fuel Element Technology for Nuclear Thermal Propulsion

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

Trammell, Michael P; Jolly, Brian C; Miller, James Henry

ORNL is currently recapturing graphite based fuel forms for Nuclear Thermal Propulsion (NTP). This effort involves research and development on materials selection, extrusion, and coating processes to produce fuel elements representative of historical ROVER and NERVA fuel. Initially, lab scale specimens were fabricated using surrogate oxides to develop processing parameters that could be applied to full length NTP fuel elements. Progress toward understanding the effect of these processing parameters on surrogate fuel microstructure is presented.

A survey of simultaneous localization and mapping on unstructured lunar complex environment

NASA Astrophysics Data System (ADS)

Wang, Yiqiao; Zhang, Wei; An, Pei

2017-10-01

Simultaneous localization and mapping (SLAM) technology is the key to realizing lunar rover's intelligent perception and autonomous navigation. It embodies the autonomous ability of mobile robot, and has attracted plenty of concerns of researchers in the past thirty years. Visual sensors are meaningful to SLAM research because they can provide a wealth of information. Visual SLAM uses merely images as external information to estimate the location of the robot and construct the environment map. Nowadays, SLAM technology still has problems when applied in large-scale, unstructured and complex environment. Based on the latest technology in the field of visual SLAM, this paper investigates and summarizes the SLAM technology using in the unstructured complex environment of lunar surface. In particular, we focus on summarizing and comparing the detection and matching of features of SIFT, SURF and ORB, in the meanwhile discussing their advantages and disadvantages. We have analyzed the three main methods: SLAM Based on Extended Kalman Filter, SLAM Based on Particle Filter and SLAM Based on Graph Optimization (EKF-SLAM, PF-SLAM and Graph-based SLAM). Finally, this article summarizes and discusses the key scientific and technical difficulties in the lunar context that Visual SLAM faces. At the same time, we have explored the frontier issues such as multi-sensor fusion SLAM and multi-robot cooperative SLAM technology. We also predict and prospect the development trend of lunar rover SLAM technology, and put forward some ideas of further research.

Advanced X-Ray Sources Ensure Safe Environments

NASA Technical Reports Server (NTRS)

2008-01-01

Ames Research Center awarded inXitu Inc. (formerly Microwave Power Technology), of Mountain View, California, an SBIR contract to develop a new design of electron optics for forming and focusing electron beams that is applicable to a broad class of vacuum electron devices. This technology offers an inherently rugged and more efficient X-ray source for material analysis; a compact and rugged X-ray source for smaller rovers on future Mars missions; and electron beam sources to reduce undesirable emissions from small, widely distributed pollution sources; and remediation of polluted sites.

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; Pasareani, Corina; Venet, Arnaud; Visser, Willem; Washington, Rich

2003-01-01

We report on a study to determine the maturity of different verification and validation technologies (V&V) on a representative example of NASA flight software. The study consisted of a controlled experiment where three technologies (static analysis, runtime analysis and model checking) were compared to traditional testing with respect to their ability to find seeded errors in a prototype Mars Rover. What makes this study unique is that it is the first (to the best of our knowledge) to do a controlled experiment to compare formal methods based tools to testing on a realistic industrial-size example where the emphasis was on collecting as much data on the performance of the tools and the participants as possible. The paper includes a description of the Rover code that was analyzed, the tools used as well as a detailed description of the experimental setup and the results. Due to the complexity of setting up the experiment, our results can not be generalized, but we believe it can still serve as a valuable point of reference for future studies of this kind. It did confirm the belief we had that advanced tools can outperform testing when trying to locate concurrency errors. Furthermore the results of the experiment inspired a novel framework for testing the next generation of the Rover.

Sampling strategies on Mars: Remote and not-so-remote observations from a surface rover

NASA Technical Reports Server (NTRS)

Singer, R. B.

1988-01-01

The mobility and speed of a semi-autonomous Mars rover are of necessity limited by the need to think and stay out of trouble. This consideration makes it essential that the rover's travels be carefully directed to likely targets of interest for sampling and in situ study. Short range remote sensing conducted from the rover, based on existing technology, can provide significant information about the chemistry and mineralogy of surrounding rocks and soils in support of sampling efforts. These observations are of course of direct scientific importance as well. Because of the small number of samples actually to be returned to Earth, it is also important that candidate samples be analyzed aboard the rover so that diversity can be maximized. It is essential to perform certain types of analyses, such as those involving volatiles, prior to the thermal and physical shocks of the return trip to Earth. In addition, whatever measurements can be made of nonreturned samples will be important to enlarge the context of the detailed analyses to be performed later on the few returned samples. Some considerations related to these objectives are discussed.

Performance Testing of Yardney Li-Ion Cells and Batteries in Support of Future NASA Missions

NASA Technical Reports Server (NTRS)

Smart, M. C.; Ratnakumar, B. V.; Whitcanack, L. D.; Puglia, F. J.; Santee, S.; Gitzendanner, R.

2009-01-01

NASA requires lightweight rechargeable batteries for future missions to Mars and the outer planets that are capable of operating over a wide range of temperatures, with high specific energy and energy densities. Due to the attractive performance characteristics, Li-ion batteries have been identified as the battery chemistry of choice for a number of future applications. For example, JPL is planning to launch another unmanned rover mission to the planet Mars. This mission, referred to as the Mars Science Laboratory (MSL), will involve the use of a rover that is much larger than the previously developed Spirit and Opportunity Rovers for the 2003 Mars Exploration Rover (MER) mission, that are currently still in operation on the surface of the planet after more than five years. Part of the reason that the MER rovers have operated so successfully, far exceeding the required mission duration of 90 sols, is that they possess robust Li-ion batteries, manufactured by Yardney Technical Products, which have demonstrated excellent life characteristics. Given the excellent performance characteristics displayed, similar Li-ion batteries have been projected to successfully meet the mission requirements of the up-coming MSL mission. In addition to future missions to Mars, Li-ion technology is attractive for a number of other future NASA applications which require high specific energy, rechargeable batteries. To ascertain the viability of using Li-ion batteries for these applications, a number of performance validation tests have been performed on both Yardney cells and batteries of various sizes. These tests include mission simulation tests, charge and discharge rate characterization testing, cycle life testing under various conditions, and storage testing.

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.

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.

Lunar Prospecting: Searching for Volatiles at the South Pole

NASA Technical Reports Server (NTRS)

Trimble, Jay; Carvalho, Robert

2016-01-01

The Resource Prospector is an in-situ resource utilization (ISRU) technology demonstration mission, planned for a 2021 launch to search for and analyze volatiles at the Lunar South Pole. The mission poses unique operational challenges. Operating at the Lunar South Pole requires navigating a surface with lighting, shadow and regolith characteristics unlike those of previous missions. The short round trip communications time enables reactive surface operations for science and engineering. Navigation of permanently shadowed regions with a solar powered rover creates risks, including power and thermal management, and requires constant real time decision making for safe entry, path selection and egress. The mission plan requires a faster rover egress from the lander than any previous NASA rover mission.

Mars Science Laboratory Rover Taking Shape

NASA Technical Reports Server (NTRS)

2008-01-01

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

The rover is about 9 feet wide and 10 feet long.

Viewing progress on the assembly are, from left: NASA Associate Administrator for Science Ed Weiler, California Institute of Technology President Jean-Lou Chameau, JPL Director Charles Elachi, and JPL Associate Director for Flight Projects and Mission Success Tom Gavin.

JPL, a division of Caltech, manages the Mars Science Laboratory project for the NASA Science Mission Directorate, Washington.

The ENABLER - Based on proven NERVA technology

NASA Astrophysics Data System (ADS)

Livingston, Julie M.; Pierce, Bill L.

The ENABLER reactor for use in a nuclear thermal propulsion engine uses the technology developed in the NERVA/Rover program, updated to incorporate advances in the technology. Using composite fuel, higher power densities per fuel element, improved radiation resistant control components and the advancements in use of carbon-carbon materials; the ENABLER can provide a specific impulse of 925 seconds, an engine thrust to weight (excluding reactor shield) approaching five, an improved initial mass in low Earth orbit and a consequent reduction in launch costs and logistics problems. This paper describes the 75,000 lbs thrust ENABLER design which is a low cost, low risk approach to meeting tommorrow's space propulsion needs.

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

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

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

NASA Technical Reports Server (NTRS)

Ai-Chang, Mitch; Bresina, John; Charest, Leonard; Hsu, Jennifer; Jonsson, Ari K.; Kanefsky, Bob; Maldague, Pierre; Morris, Paul; Rajan, Kanna; Yglesias, Jeffrey

2003-01-01

This document describes the Mixed-initiative Activity Plan Generation system MAPGEN. The system is be- ing developed as one of the tools to be used during surface operations of NASA's Mars Exploration Rover mission (MER). However, the core technology is general and can be adapted to different missions and applications. The motivation for the system is to better support users that need to rapidly build activity plans that have to satisfy complex rules and fit within resource limits. The system therefore combines an existing tool for activity plan editing and resource modeling, with an advanced constraint-based reasoning and planning framework. The demonstration will show the key capabilities of the automated reasoning and planning component of the system, with emphasis on how these capabilities will be used during surface operations of the MER mission.

Mars Pathfinder Microrover- Implementing a Low Cost Planetary Mission Experiment

NASA Technical Reports Server (NTRS)

Matijevic, J.

1996-01-01

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

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

NASA Astrophysics Data System (ADS)

Digoin, JJ.; Boutelet, E.

2011-10-01

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

Mobile Robot Localization by Remote Viewing of a Colored Cylinder

NASA Technical Reports Server (NTRS)

Volpe, R.; Litwin, T.; Matthies, L.

1995-01-01

A system was developed for the Mars Pathfinder rover in which the rover checks its position by viewing the angle back to a colored cylinder with different colors for different angles. The rover determines distance by the apparent size of the cylinder.

The supercam instrument on the NASA Mars 2020 mission: optical design and performance

NASA Astrophysics Data System (ADS)

Perez, R.; Parès, Laurent P.; Newell, R.; Robinson, S.; Bernardi, P.; Réess, J.-M.; Caïs, Ph.; McCabe, K.; Maurice, S.; Wiens, R. C.

2017-09-01

NASA is developing the MARS 2020 mission, which includes a rover that will land and operate on the surface of Mars. MARS 2020, scheduled for launch in July, 2020, is designed to conduct an assessment of Mars' past habitability, search for potential biosignatures, demonstrate progress toward the future return of samples to Earth, and contribute to NASA's Human Exploration and Space Technology Programs.

A Nuclear Cryogenic Propulsion Stage for Near-Term Space Missions

NASA Technical Reports Server (NTRS)

Houts, Michael G.; Kim, Tony; Emrich, William J.; Hickman, Robert R.; Broadway, Jeramie W.; Gerrish, Harold P.; Adams, Robert B.; Bechtel, Ryan D.; Borowski, Stanley K.; George, Jeffrey A.

2013-01-01

The potential capability of NTP is game changing for space exploration. A first generation NCPS could provide high thrust at a specific impulse above 900 s, roughly double that of state of the art chemical engines. Near-term NCPS systems would provide a foundation for the development of significantly more advanced, higher performance systems. John F. Kennedy made his historic special address to Congress on the importance of space on May 25, 1961, "First, I believe that this nation should commit itself to achieving the goal, before this decade is out, of landing a man on the Moon and returning him safely to the Earth..." This was accomplished. John F. Kennedy also made a second request, "Secondly... accelerate development of the Rover nuclear rocket. This gives promise of some day providing a means for even more exciting and ambitious exploration of space, perhaps beyond the Moon, perhaps to the very end of the solar system itself." The investment in the Rover nuclear rocket program provided the foundation of technology that gives us assurance for greater performing rockets that are capable of taking us further into space. Combined with current technologies, the vision to go beyond the Moon and to the very end of the solar system can be realized with space nuclear propulsion and power.

Device for Lowering Mars Science Laboratory Rover to the Surface

NASA Technical Reports Server (NTRS)

2008-01-01

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

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

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

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

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

Subsurface Sample Acquisition and Transfer Systems (SSATS)

NASA Astrophysics Data System (ADS)

Rafeek, S.; Gorevan, S. P.; Kong, K. Y.

2001-01-01

In the exploration of planets and small bodies, scientists will need the services of a deep drilling and material handling system to not only obtain the samples necessary for analyses but also to precisely transfer and deposit those samples in in-situ instruments on board a landed craft or rover. The technology for such a deep sampling system as the SSATS is currently been developed by Honeybee Robotics through a PIDDP effort. The SSATS has its foundation in a one-meter prototype (SATM) drill that was developed under the New Millenium Program for ST4/Champollion. Additionally the SSATS includes relevant coring technology form a coring drill (Athena Mini-Corer) developed for the Mars Sample Return Mission. These highly developed technologies along with the current PIDDP effort, is combined to produce a sampling system that can acquire and transfer samples from various depths. Additional information is contained in the original extended abstract.

Evaluation of simple deployment mechanism of multiple rovers by microgravity experiments using a drop tower

NASA Astrophysics Data System (ADS)

Yoshimitsu, Tetsuo; Yano, Hajime; Kubota, Takashi; Adachi, Tadashi; Ishigami, Genya

2012-07-01

Introduction, Japan has announced the official development of ``Hayabusa-2'', the second sample return mission to a Near-Earth asteroid. When the development is made smoothly, Hayabusa-2 will be launched in 2014. The predecessor spacecraft ``Hayabusa'' made a great success when it returned to the Earth in June 2010 with a capsule containing some particles obtained from S-type asteroid ``Itokawa.'' Rover system, The authors installed a tiny hopping rover called ``MINERVA'' into Hayabusa spacecraft. MINERVA weights only 591[g] but has an autonomous exploration capability on the microgravity environment on the small solar system bodies. MINERVA was successfully deployed from the mother spacecraft on 12 Nov 2005 at the vicinity of the target asteroid. But unfortunately it became a solar orbiting satellite since the relative position and the speed of the mother spacecraft around the target asteroid were worst. Nevertheless it worked well, demonstrating an autnomous capability and had survived until the comunication link was lost. The authors plan to install some rovers also into Hayabusa-2. The total concept is the same but this time multiple rovers are considered. Deployment mechanism, Two rovers are installed in one container and are developed at the same time. The maximum allowed weight for the container including two rovers is 2.5[kg] and we have to seek for a simple and a light-weighted deployment system. We developed a new deployment system drastically sophisticated from the one used for MINERVA in Hayabusa mission. Both the cover and the rovers are pushed by the springs after the tightly winded wire has been cut by the deployment trigger form the spacecraft. The new deployment system enables the following things. The cover and the rovers are deployed in different directions in one action. The uncertainty of the deployment speed is decreased. Microgravity experiment, Thanks to the courtesy of DLR (German Aerospace Center) based on the international cooperation between Germany and Japan on the development of Hayabusa-2 spacecraft, we had an opprotunity to evaluate the performance of the above mentioned deployment system by using the drop tower in Bremen. We made six drops in January 2012 to look at the speed and the direction of the cover and the rovers using various parameters, which were all performed successfully. This paper reports the result of the microgravity experiments.

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.

Approach and Instrument Placement Validation

NASA Technical Reports Server (NTRS)

Ator, Danielle

2005-01-01

The Mars Exploration Rovers (MER) from the 2003 flight mission represents the state of the art technology for target approach and instrument placement on Mars. It currently takes 3 sols (Martian days) for the rover to place an instrument on a designated rock target that is about 10 to 20 m away. The objective of this project is to provide an experimentally validated single-sol instrument placement capability to future Mars missions. After completing numerous test runs on the Rocky8 rover under various test conditions, it has been observed that lighting conditions, shadow effects, target features and the initial target distance have an effect on the performance and reliability of the tracking software. Additional software validation testing will be conducted in the months to come.

An Overview of Wind-Driven Rovers for Planetary Exploration

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

Feasibility Study of Commercial Markets for New Sample Acquisition Devices

NASA Technical Reports Server (NTRS)

Brady, Collin; Coyne, Jim; Bilen, Sven G.; Kisenwether, Liz; Miller, Garry; Mueller, Robert P.; Zacny, Kris

2010-01-01

The NASA Exploration Systems Mission Directorate (ESMD) and Penn State technology commercialization project was designed to assist in the maturation of a NASA SBIR Phase III technology. The project was funded by NASA's ESMD Education group with oversight from the Surface Systems Office at NASA Kennedy Space Center in the Engineering Directorate. Two Penn State engineering student interns managed the project with support from Honeybee Robotics and NASA Kennedy Space Center. The objective was to find an opportunity to integrate SBIR-developed Regolith Extractor and Sampling Technology as the payload for the future Lunar Lander or Rover missions. The team was able to identify two potential Google Lunar X Prize organizations with considerable interest in utilizing regolith acquisition and transfer technology.

Inflatable Vehicles for In-Situ Exploration of Titan

NASA Technical Reports Server (NTRS)

Jones, J. A.

2001-01-01

Space Inflatable vehicles have been finding popularity in recent years for applications as varied as spacecraft antennas, space-based telescopes, solar sails, and manned habitats. Another branch of space inflatable technology has also considered developing ambient-filled, solar balloons for Mars as well as ambient-filled inflatable rovers. More recently, some of these inflatable technologies have been applied to the outer solar system bodies with the result that there are some rather unique and compelling inflatable mission capabilities for in situ explorations of Titan, Triton, Uranus, and Neptune. Additional information is contained in the original extended abstract.

Planetary cubesats - mission architectures

NASA Astrophysics Data System (ADS)

Bousquet, Pierre W.; Ulamec, Stephan; Jaumann, Ralf; Vane, Gregg; Baker, John; Clark, Pamela; Komarek, Tomas; Lebreton, Jean-Pierre; Yano, Hajime

2016-07-01

Miniaturisation of technologies over the last decade has made cubesats a valid solution for deep space missions. For example, a spectacular set 13 cubesats will be delivered in 2018 to a high lunar orbit within the frame of SLS' first flight, referred to as Exploration Mission-1 (EM-1). Each of them will perform autonomously valuable scientific or technological investigations. Other situations are encountered, such as the auxiliary landers / rovers and autonomous camera that will be carried in 2018 to asteroid 1993 JU3 by JAXA's Hayabusas 2 probe, and will provide complementary scientific return to their mothership. In this case, cubesats depend on a larger spacecraft for deployment and other resources, such as telecommunication relay or propulsion. For both situations, we will describe in this paper how cubesats can be used as remote observatories (such as NEO detection missions), as technology demonstrators, and how they can perform or contribute to all steps in the Deep Space exploration sequence: Measurements during Deep Space cruise, Body Fly-bies, Body Orbiters, Atmospheric probes (Jupiter probe, Venus atmospheric probes, ..), Static Landers, Mobile landers (such as balloons, wheeled rovers, small body rovers, drones, penetrators, floating devices, …), Sample Return. We will elaborate on mission architectures for the most promising concepts where cubesat size devices offer an advantage in terms of affordability, feasibility, and increase of scientific return.

Systems and Technologies for Space Exploration: the regional project STEPS

NASA Astrophysics Data System (ADS)

Boggiatto, D.; Moncalvo, D.

The Aerospace technology network of Piemonte represents ˜25% of the italian capacity and handles a comprehensive spectrum of products (aircraft, propulsion, satellites, space station modules, avionics. components, services...). The cooperation between the Comitato Distretto Aerospaziale Piemonte and the European Regional Development Fund 2007-2013 has enabled Regione Piemonte to launch three regional Projects capable to enhance the synergy and competitiveness of the network, among which: STEPS - Sistemi e Tecnologie per l'EsPlorazione Spaziale, a joint development of technologies for robotic and human Space Exploration by 3 large Industries, 27 SMEs, 3 Universities and one public Research Centre. STEPS develops virtual and hardware demonstrators for a range of technologies to do with a Lander's descent and soft landing, and a Rover's surface mobility, of both robotic and manned equipment on Moon and Mars. It also foresees the development of Teleoperations labs and Virtual Reality environments and physical simulations of Moon and Mars surface conditions and ground. Mid-way along STEPS planned development, initial results in several technology domains are available and are presented in this paper.

Stirling Convertor Technologies Being Developed for a Stirling Radioisotope Generator

NASA Technical Reports Server (NTRS)

Thieme, Lanny G.

2003-01-01

The Department of Energy, Lockheed Martin, Stirling Technology Company (STC), and the NASA Glenn Research Center are developing a high-efficiency Stirling Radioisotope Generator (SRG) for NASA space science missions. The SRG is being developed for multimission use, including providing electric power for unmanned Mars rovers and deep space missions. On Mars, rovers with SRGs would be used for missions that might not be able to use photovoltaic power systems, such as exploration at high Martian latitudes and missions of long duration. The projected SRG system efficiency of 23 percent will reduce the required amount of radioisotope by a factor of 4 or more in comparison to currently used Radioisotope Thermoelectric Generators. The Department of Energy recently named Lockheed Martin as the system integration contractor. Lockheed Martin has begun to develop the SRG engineering unit under contract to the Department of Energy, and has contract options to develop the qualification unit and the first flight units. The developers expect the SRG to produce about 114 Wdc at the beginning of mission, using two opposed Stirling convertors and two General Purpose Heat Source modules. STC previously developed the Stirling convertor under contract to the Department of Energy and is now providing further development as a subcontractor to Lockheed Martin. Glenn is conducting an in-house technology project to assist in developing the convertor for space qualification and mission implementation. A key milestone was recently reached with the accumulation of 12 000 hr of long-term aging on two types of neodymium-iron boron permanent magnets. These tests are characterizing any possible aging in the strength or demagnetization resistance of the magnets used in the linear alternator. Preparations are underway for a thermal/vacuum system demonstration and unattended operation during endurance testing of the 55-We Technology Demonstration Convertors. In addition, Glenn is developing a charging system for the convertors to ensure clean fills of the helium working fluid and to monitor levels of any possible contaminants at different test intervals. Possible oxidation effects depend on the level of any oxygen contamination-regenerator materials and displacer radiation shields are now being evaluated for possible oxidation effects.

Spirit's Tracks around 'Home Plate'

NASA Technical Reports Server (NTRS)

2006-01-01

[figure removed for brevity, see original site] Annotated Version

This portion of an image acquired by the Mars Reconnaissance Orbiter's High Resolution Imaging Science Experiment camera shows the Spirit rover's winter campaign site. The rover is visible. So is the 'Low Ridge' feature where Spirit was parked with an 11-degree northerly tilt to maximize sunlight on the solar panels during the southern winter season. Tracks made by Spirit on the way to 'Home Plate' and to and from 'Tyrone,' an area of light-toned soils exposed by rover wheel motions, are also evident. The original image is catalogued as PSP_001513_1655_red and was taken Sept. 29, 2006.

NASA's Jet Propulsion Laboratory, a division of the California Institute of Technology in Pasadena, manages the Mars Reconnaissance Orbiter for NASA's Science Mission Directorate, Washington. Lockheed Martin Space Systems, Denver, is the prime contractor for the project and built the spacecraft. The High Resolution Imaging Science Experiment is operated by the University of Arizona, Tucson, and the instrument was built by Ball Aerospace and Technology Corp., Boulder, Colo.

A manipulator arm for zero-g simulations

NASA Technical Reports Server (NTRS)

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

1975-01-01

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

Enabling technologies for space exploration systems: The STEPS project results and perspectives

NASA Astrophysics Data System (ADS)

Messidoro, Piero; Perino, Maria Antonietta; Boggiatto, Dario

2013-05-01

The project STEPS (Sistemi e Tecnologie per l'EsPlorazione Spaziale) is a joint development of technologies and systems for Space Exploration supported by Regione Piemonte, the European Regional Development Fund (E.R.D.F.) 2007-2013, Thales Alenia Space Italia (TAS-I), SMEs, Universities and public Research Centres belonging to the network "Comitato Distretto Aerospaziale del Piemonte" the Piedmont Aerospace District (PAD) in Italy. The project first part terminated in May 2012 with a final demonstration event that summarizes the technological results of research activities carried-out during a period the three years and half. The project developed virtual and hardware demonstrators for a range of technologies for the descent, soft landing and surface mobility of robotic and manned equipment for Moon and Mars exploration. The two key hardware demonstrators—a Mars Lander and a Lunar Rover—fit in a context of international cooperation for the exploration of Moon and Mars, as envisaged by Space Agencies worldwide. The STEPS project included also the development and utilization of a system of laboratories equipped for technology validation, teleoperations, concurrent design environments, and virtual reality simulation of the Exploration Systems in typical Moon and Mars environments. This paper presents the reached results in several technology domains like: vision-based GNC for the last portion of Mars Entry, Descent and Landing sequence, Hazard avoidance and complete spacecraft autonomy; Autonomous Rover Navigation, based on the determination of the terrain morphology by a stereo camera; Mobility and Mechanisms providing an Integrated Ground Mobility System, Rendezvous and Docking equipment, and protection from Environment effects; innovative Structures such as Inflatable, Smart and Multifunction Structures, an Active Shock Absorber for safe landing, balance restoring and walking; Composite materials Modelling and Monitoring; Human-machine interface features of a predictive Command and Control System; Energy Management systems based on Regenerative Fuel Cells; aerothermodynamic solutions for Atmospheric Re-entry of Commercial Transportation Systems; novel Design and Development Tools, such as a Rover S/W simulator and prototypes of the DEM viewer and of a S/W Rock Creator/visualizator. The paper also provides perspectives on the proposed STEPS 2 project that will likely continue the development of a subset of the above technologies in view of their possible in-flight validation within next five years.

The ENABLER—based on proven NERVA technology

NASA Astrophysics Data System (ADS)

Livingston, Julie M.; Pierce, Bill L.

1991-01-01

The ENABLER reactor for use in a nuclear thermal propulsion engine uses the technology developed in the NERVA/Rover program, updated to incorporate advances in the technology. Using composite fuel, higher power densities per fuel element, improved radiation resistant control components and the advancements in use of carbon-carbon materials; the ENABLER can provide a specific impulse of 925 seconds, an engine thrust to weight (excluding reactor shield) approaching five, an improved initial Mass In Low Earth Orbit (IMLEO) and a consequent reduction in launch costs and logistics problems. This paper describes the 75,000 lbs thrust ENABLER design which is a low cost, low risk approach to meeting tomorrow's space propulsion needs.

Programmable Ultra-Lightweight System Adaptable Radio Satellite Base Station

NASA Technical Reports Server (NTRS)

Varnavas, Kosta; Sims, Herb

2015-01-01

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

Stirling convertor performance mapping test results

NASA Astrophysics Data System (ADS)

Qiu, Songgang; Peterson, Allen A.; White, Maurice A.; Faultersack, Franklyn; Redinger, Darin L.; Petersen, Stephen L.

2002-01-01

The Department of Energy (DOE) has selected Free-Piston Stirling Convertors as a technology for future advanced radioisotope space power systems. In August 2000, DOE awarded competitive Phase I, Stirling Radioisotope Generator (SRG) power system integration contracts to three major aerospace contractors, resulting in SRG conceptual designs in February 2001. All three contractors based their designs on the Technology Demonstration Convertor (TDC) developed by Stirling Technology Company (STC) for DOE. The contract award to a single system integration contractor for Phases II and III of the SRG program is anticipated in late 2001. The first potential SRG mission is targeted for a Mars rover. Recent TDC performance data are provided in this paper, together with predictions from Stirling simulation models. .

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.

Rover Attitude and Pointing System Simulation Testbed

NASA Technical Reports Server (NTRS)

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

2009-01-01

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

Overview of the Mars Exploration Rover Mission

NASA Astrophysics Data System (ADS)

Adler, M.

2002-12-01

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

Overview of NASA's Thermal Control System Development for Exploration Project

NASA Technical Reports Server (NTRS)

Stephan, Ryan A.

2010-01-01

NASA's Constellation Program includes the Orion, Altair, and Lunar Surface Systems project offices. The first two elements, Orion and Altair, are manned space vehicles while the third element is broader and includes several sub-elements including Rovers and a Lunar Habitat. The upcoming planned missions involving these systems and vehicles include several risks and design challenges. Due to the unique thermal environment, many of these risks and challenges are associated with the vehicles' thermal control system. NASA's Exploration Systems Mission Directorate (ESMD) includes the Exploration Technology Development Program (ETDP). ETDP consists of several technology development projects. The project chartered with mitigating the aforementioned risks and design challenges is the Thermal Control System Development for Exploration Project. The risks and design challenges are addressed through a rigorous technology development process that culminates with an integrated thermal control system test. The resulting hardware typically has a Technology Readiness Level (TRL) of six. This paper summarizes the development efforts being performed by the technology development project. The development efforts involve heat acquisition and heat rejection hardware including radiators, heat exchangers, and evaporators. The project has also been developing advanced phase change material heat sinks and performing assessments for thermal control system fluids.

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

NASA Image and Video Library

2003-06-08

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

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

NASA Image and Video Library

2003-06-08

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

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

NASA Image and Video Library

2003-06-08

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

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

NASA Astrophysics Data System (ADS)

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

2005-03-01

Addressable Reconfigurable Technology (ART), conceived for future ANTS (Autonomous Nanotechnology Swarm) Architectures, is now implemented as Autonomous Lunar Investigator (ALI) rovers, a mission concept allowing autonomous exploration of the lunar farside and poles within 10 years.

Continuing Evolution of Mars Sample Return

NASA Technical Reports Server (NTRS)

Mattingly, Richard; Matousek, Steve; Jordan, Frank

2004-01-01

This paper addresses the continued evolution of the Groundbreaking MSR concept over the last year. One of the tenets of the low-cost approach is to use substantial heritage from an earlier mission, Mars Science Laboratory (MSL). Recently, the MSL project developed and switched to a revolutionary landing approach, coined 'sky-crane' where the MSL, which is a rover, is lowered gently to the Martian surface from a hovering vehicle. MSR has adopted this approach, again continuing to capitalize on the heritage for a significant portion of the new lander. In parallel, a MSR Technology Board was formed to reexamine MSR technology needs and participate in a continuing refinement of architectural trades. While the focused technology program continues to be definitized through the remainder of this year, the current assessment of what technology development is required, is discussed in this paper. In addition, the results of new trade studies and considerations will be discussed.

Development of Testing Station for Prototype Rover Thermal Subsystem

NASA Technical Reports Server (NTRS)

Burlingame, Kaitlin

2010-01-01

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

Exploration Rover Concepts and Development Challenges

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

Rover/NERVA-derived near-term nuclear propulsion

NASA Technical Reports Server (NTRS)

1993-01-01

FY-92 accomplishments centered on conceptual design and analyses for 25, 50, and 75 K engines with emphasis on the 50 K engine. During the first period of performance, flow and energy balances were prepared for each of these configurations and thrust-to-weight values were estimated. A review of fuel technology and key data from the Rover/NERVA program established a baseline for proven reactor performance and areas of enhancement to meet near-term goals. Studies were performed of the criticality and temperature profiles for probable fuel and moderator loadings for the three engine sizes, with a more detailed analysis of the 50 K size. During the second period of performance, analyses of the 50 K engine continued. A chamber/nozzle contour was selected and heat transfer and fatigue analyses were performed for likely construction materials. Reactor analyses were performed to determine component radiation heating rates, reactor radiation fields, water immersion poisoning requirements, temperature limits for restartability, and a tie-tube thermal analysis. Finally, a brief assessment of key enabling technologies was made, with a view toward identifying development issues and identification of the critical path toward achieving engine qualification within 10 years.

Mars pathfinder Rover egress deployable ramp assembly

NASA Technical Reports Server (NTRS)

Spence, Brian R.; Sword, Lee F.

1996-01-01

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

Designing a Distributed Space Systems Simulation in Accordance with the Simulation Interoperability Standards Organization (SISO)

NASA Technical Reports Server (NTRS)

Cowen, Benjamin

2011-01-01

Simulations are essential for engineering design. These virtual realities provide characteristic data to scientists and engineers in order to understand the details and complications of the desired mission. A standard development simulation package known as Trick is used in developing a source code to model a component (federate in HLA terms). The runtime executive is integrated into an HLA based distributed simulation. TrickHLA is used to extend a Trick simulation for a federation execution, develop a source code for communication between federates, as well as foster data input and output. The project incorporates international cooperation along with team collaboration. Interactions among federates occur throughout the simulation, thereby relying on simulation interoperability. Communication through the semester went on between participants to figure out how to create this data exchange. The NASA intern team is designing a Lunar Rover federate and a Lunar Shuttle federate. The Lunar Rover federate supports transportation across the lunar surface and is essential for fostering interactions with other federates on the lunar surface (Lunar Shuttle, Lunar Base Supply Depot and Mobile ISRU Plant) as well as transporting materials to the desired locations. The Lunar Shuttle federate transports materials to and from lunar orbit. Materials that it takes to the supply depot include fuel and cargo necessary to continue moon-base operations. This project analyzes modeling and simulation technologies as well as simulation interoperability. Each team from participating universities will work on and engineer their own federate(s) to participate in the SISO Spring 2011 Workshop SIW Smackdown in Boston, Massachusetts. This paper will focus on the Lunar Rover federate.

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.

Mars Science Laboratory Rover Mobility Bushing Development

NASA Technical Reports Server (NTRS)

Riggs, Benjamin

2008-01-01

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

The NASA Advanced Space Power Systems Project

NASA Technical Reports Server (NTRS)

Mercer, Carolyn R.; Hoberecht, Mark A.; Bennett, William R.; Lvovich, Vadim F.; Bugga, Ratnakumar

2015-01-01

The goal of the NASA Advanced Space Power Systems Project is to develop advanced, game changing technologies that will provide future NASA space exploration missions with safe, reliable, light weight and compact power generation and energy storage systems. The development effort is focused on maturing the technologies from a technology readiness level of approximately 23 to approximately 56 as defined in the NASA Procedural Requirement 7123.1B. Currently, the project is working on two critical technology areas: High specific energy batteries, and regenerative fuel cell systems with passive fluid management. Examples of target applications for these technologies are: extending the duration of extravehicular activities (EVA) with high specific energy and energy density batteries; providing reliable, long-life power for rovers with passive fuel cell and regenerative fuel cell systems that enable reduced system complexity. Recent results from the high energy battery and regenerative fuel cell technology development efforts will be presented. The technical approach, the key performance parameters and the technical results achieved to date in each of these new elements will be included. The Advanced Space Power Systems Project is part of the Game Changing Development Program under NASAs Space Technology Mission Directorate.

Human Exploration Using Real-Time Robotic Operations (HERRO)- Crew Telerobotic Control Vehicle (CTCV) Design

NASA Technical Reports Server (NTRS)

Oleson, Steven R.; McGuire, Melissa L.; Burke, Laura; Chato, David; Fincannon, James; Landis, Geoff; Sandifer, Carl; Warner, Joe; Williams, Glenn; Colozza, Tony;

The NASA Langley Mars Tumbleweed Rover Prototype

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

Sunset in Mars Gale Crater

NASA Image and Video Library

2015-05-08

NASA's Curiosity Mars rover recorded this view of the sun setting at the close of the mission's 956th Martian day, or sol (April 15, 2015), from the rover's location in Gale Crater. This was the first sunset observed in color by Curiosity. The image comes from the left-eye camera of the rover's Mast Camera (Mastcam). The color has been calibrated and white-balanced to remove camera artifacts. Mastcam sees color very similarly to what human eyes see, although it is actually a little less sensitive to blue than people are. Dust in the Martian atmosphere has fine particles that permit blue light to penetrate the atmosphere more efficiently than longer-wavelength colors. That causes the blue colors in the mixed light coming from the sun to stay closer to sun's part of the sky, compared to the wider scattering of yellow and red colors. The effect is most pronounced near sunset, when light from the sun passes through a longer path in the atmosphere than it does at mid-day. Malin Space Science Systems, San Diego, built and operates the rover's Mastcam. NASA's Jet Propulsion Laboratory, a division of the California Institute of Technology, Pasadena, manages the Mars Science Laboratory Project for NASA's Science Mission Directorate, Washington. JPL designed and built the project's Curiosity rover. http://photojournal.jpl.nasa.gov/catalog/PIA19400

The real-time control of planetary rovers through behavior modification

NASA Technical Reports Server (NTRS)

Miller, David P.

1991-01-01

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

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

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

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

2003-01-01

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

Prototype Lithium-Ion Battery Developed for Mars 2001 Lander

NASA Technical Reports Server (NTRS)

Manzo, Michelle A.

2000-01-01

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

Inflatable robotics for planetary applications

NASA Technical Reports Server (NTRS)

Jones, Jack A.

2001-01-01

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

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

Academic Skills Rovers: A Just in Time Peer Support Initiative for Academic Skills and Literacy Development

ERIC Educational Resources Information Center

Copeman, Peter; Keightley, Polly

2014-01-01

In 2013 the University of Canberra (UC) initiated a program of peer-assisted academic skills help, the Academic Skills Rovers program, with the goal of providing drop-in peer learning support to students at campus locations where they congregate to study. The Academic Skills Rovers were initially recruited from the teacher education discipline,…

Scarecrow

NASA Image and Video Library

2007-10-04

The team developing NASA Mars Science Laboratory calls this test rover Scarecrow because the vehicle does not include a computer brain. Mobility engineers use this test rover to evaluate mobility and suspension performance.

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.

Autonomous control of roving vehicles for unmanned exploration of the planets

NASA Technical Reports Server (NTRS)

Yerazunis, S. W.

1978-01-01

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

Autonomous Instrument Placement for Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Leger, P. Chris; Maimone, Mark

2009-01-01

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

Space Solar Power Technology for Lunar Polar Applications

NASA Technical Reports Server (NTRS)

Henley, Mark W.; Howell, Joe T.

2004-01-01

The technology for Laser-Photo-Voltaic Wireless Power Transistor (Laser-PV WPT) is being developed for lunar polar applications by Boeing and NASA Marshall Space Center. A lunar polar mission could demonstrate and validate Laser-PV WPT and other SSP technologies, while enabling access to cold, permanently shadowed craters that are believed to contain ice. Crater may hold frozen water and other volatiles deposited over billion of years, recording prior impact event on the moon (and Earth). A photo-voltaic-powered rover could use sunlight, when available, and laser light, when required, to explore a wide range of lunar terrain. The National Research Council recently found that a mission to the moon's south pole-Aitkir basin has priority for space science

Preparing for Orion Recovery Test on This Week @NASA - August 1, 2014

NASA Image and Video Library

2014-08-01

NASA and the U.S. Navy were busy recently – preparing for tests scheduled off the coast of San Diego, California. Crews will run through the procedures to recover NASA's Orion spacecraft from the ocean, following its water landing from deep space missions. Kennedy Space Center, Johnson Space Center, and Lockheed Martin Space Operations are all involved in the recovery effort. Also, Mars 2020 rover and beyond, Opportunity: 25 miles and counting, Updated K-Rex rover, Automated Transfer Vehicle launch and NASA Technology Days!

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

NASA Technical Reports Server (NTRS)

Sims, Michael H.

2009-01-01

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

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

NASA Technical Reports Server (NTRS)

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

2006-01-01

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

Development and Engineering Design in Support of "Rover Ranch": A K-12 Outreach Software Project

NASA Technical Reports Server (NTRS)

Pascali, Raresh

2003-01-01

A continuation of the initial development started in the summer of 1999, the body of work performed in support of 'ROVer Ranch' Project during the present fellowship dealt with the concrete concept implementation and resolution of the related issues. The original work performed last summer focused on the initial examination and articulation of the concept treatment strategy, audience and market analysis for the learning technologies software. The presented work focused on finalizing the set of parts to be made available for building an AERCam Sprint type robot and on defining, testing and implementing process necessary to convert the design engineering files to VRML files. Through reverse engineering, an initial set of mission critical systems was designed for beta testing in schools. The files were created in ProEngineer, exported to VRML 1.0 and converted to VRML 97 (VRML 2.0) for final integration in the software. Attributes for each part were assigned using an in-house developed JAVA based program. The final set of attributes for each system, their mutual interaction and the identification of the relevant ones to be tracked, still remain to be decided.

2014 NASA Centennial Challenges Sample Return Robot Challenge

NASA Image and Video Library

2014-06-14

The University of California Santa Cruz Rover Team prepares their rover for the rerun of the level one challenge during the 2014 NASA Centennial Challenges Sample Return Robot Challenge, Saturday, June 14, 2014, at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. Eighteen teams are competing for a $1.5 million NASA prize purse. Teams will be required to demonstrate autonomous robots that can locate and collect samples from a wide and varied terrain, operating without human control. The objective of this NASA-WPI Centennial Challenge is to encourage innovations in autonomous navigation and robotics technologies. Innovations stemming from the challenge may improve NASA's capability to explore a variety of destinations in space, as well as enhance the nation's robotic technology for use in industries and applications on Earth. Photo Credit: (NASA/Joel Kowsky)

Mixed-Initiative Activity Planning for Mars Rovers

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

Holographic Rovers: Augmented Reality and the Microsoft HoloLens

NASA Technical Reports Server (NTRS)

Toler, Laura

2017-01-01

Augmented Reality is an emerging field in technology, and encompasses Head Mounted Displays, smartphone apps, and even projected images. HMDs include the Meta 2, Magic Leap, Avegant Light Field, and the Microsoft HoloLens, which is evaluated specifically. The Microsoft HoloLens is designed to be used as an AR personal computer, and is being optimized with that goal in mind. Microsoft allied with the Unity3D game engine to create an SDK for interested application developers that can be used in the Unity environment.

The ExoMars Rover Science Archive: Status and Plans

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

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.

Electric Power System Technology Options for Lunar Surface Missions

NASA Technical Reports Server (NTRS)

Kerslake, Thomas W.

2005-01-01

In 2004, the President announced a 'Vision for Space Exploration' that is bold and forward-thinking, yet practical and responsible. The vision explores answers to longstanding questions of importance to science and society and will develop revolutionary technologies and capabilities for the future, while maintaining good stewardship of taxpayer dollars. One crucial technology area enabling all space exploration is electric power systems. In this paper, the author evaluates surface power technology options in order to identify leading candidate technologies that will accomplish lunar design reference mission three (LDRM-3). LDRM-3 mission consists of multiple, 90-day missions to the lunar South Pole with 4-person crews starting in the year 2020. Top-level power requirements included a nominal 50 kW continuous habitat power over a 5-year lifetime with back-up or redundant emergency power provisions and a nominal 2-kW, 2-person unpressurized rover. To help direct NASA's technology investment strategy, this lunar surface power technology evaluation assessed many figures of merit including: current technology readiness levels (TRLs), potential to advance to TRL 6 by 2014, effectiveness of the technology to meet the mission requirements in the specified time, mass, stowed volume, deployed area, complexity, required special ground facilities, safety, reliability/redundancy, strength of industrial base, applicability to other LDRM-3 elements, extensibility to Mars missions, costs, and risks. For the 50-kW habitat module, dozens of nuclear, radioisotope and solar power technologies were down-selected to a nuclear fission heat source with Brayton, Stirling or thermoelectric power conversion options. Preferred energy storage technologies included lithium-ion battery and Proton Exchange Membrane (PEM) Regenerative Fuel Cells (RFC). Several AC and DC power management and distribution architectures and component technologies were defined consistent with the preferred habitat power generation technology option and the overall lunar surface mission. For rover power, more than 20 technology options were down-selected to radioisotope Stirling, liquid lithium-ion battery, PEM RFC, or primary fuel cell options. The author discusses various conclusions that can be drawn from the findings of this surface power technologies evaluation.

Surface Telerobotics: Development and Testing of a Crew Controlled Planetary Rover System

NASA Technical Reports Server (NTRS)

Fong, Terry; Bualat, Maria; Allan, Mark B; Bouyssounouse, Xavier; Cohen, Tamar

2013-01-01

During Summer 2013, we conducted a series of tests to examine how astronauts in the In- ternational Space Station (ISS) can remotely operate a planetary rover. The tests simulated portions of a proposed mission, in which an astronaut in lunar orbit remotely operates a planetary rover to deploy a radio telescope on the lunar farside. In this paper, we present the design, implementation, and preliminary test results.

The Max Rover submersible is tested at the Trident pier, Port Canaveral

NASA Technical Reports Server (NTRS)

1997-01-01

Thomas Lippitt of NASA's Advanced Systems Development (ASD) laboratory observes robotic operations as Chris Nicholson, owner of Deep Sea Systems, and Bill Jones of NASA's ASD laboratory operate the unmanned robotic submersible recovery system, known as Max Rover, during a test of the system at the Trident Pier at Port Canaveral. The submersible is seen in the water with the Diver Operated Plug (DOP). Kennedy Space Center's solid rocket booster (SRB) retrieval team and ASD laboratory staff hope that the new robotic technology will make the process of inserting the plug safer and less strenuous. Currently, scuba divers manually insert the DOP into the aft nozzle of a jettisoned SRB 60 to 70 feet below the surface of the Atlantic Ocean. After the plug is installed, water is pumped out of the booster allowing it to float horizontally. It is then towed back to Hangar AF at Cape Canaveral Air Station for refurbishment. Deep Sea Systems of Falmouth, Mass., built the submersible for NASA.

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.

Unmanned surface traverses of Mars and Moon: Science objectives, payloads, operations

NASA Technical Reports Server (NTRS)

Jaffe, L. D.; Choate, R.

1973-01-01

Science objectives and properties to be measured are outlined for long surface traverse missions on Mars and the Moon, with remotely-controlled roving vehicles. A series of candidate rover payloads is proposed for each planet, varying in weight, cost, purpose, and development needed. The smallest weighs 35 kg; the largest almost 300 kg. A high degree of internal control will be needed on the Mars rover, including the ability to carry out complex science sequences. Decision-making by humans in the Mars mission includes supervisory control of rover operations and selection of features and samples of geological and biological interest. For the lunar mission, less control on the rover and more on earth is appropriate. Science portions of the rover mission profile are outlined, with timelines and mileage breakdowns. Operational problem areas for Mars include control, communications, data storage, night operations, and the mission operations system. For the moon, science data storage on the rover would be unnecessary and control much simpler.

Rover nuclear rocket engine program: Overview of rover engine tests

NASA Technical Reports Server (NTRS)

Finseth, J. L.

1991-01-01

The results of nuclear rocket development activities from the inception of the ROVER program in 1955 through the termination of activities on January 5, 1973 are summarized. This report discusses the nuclear reactor test configurations (non cold flow) along with the nuclear furnace demonstrated during this time frame. Included in the report are brief descriptions of the propulsion systems, test objectives, accomplishments, technical issues, and relevant test results for the various reactor tests. Additionally, this document is specifically aimed at reporting performance data and their relationship to fuel element development with little or no emphasis on other (important) items.

Robot Manipulator Technologies for Planetary Exploration

NASA Technical Reports Server (NTRS)

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

1999-01-01

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

KSC-2014-2987

NASA Image and Video Library

2014-06-23

CAPE CANAVERAL, Fla. -- At the Kennedy Space Center in Florida, University of Colorado Boulder graduate students Daniel Zukowski, left, and Heather Hava describe a Remotely Operated Gardening Rover, or ROGR, which could tend to plants grown in a deep-space habitat. The system is being developed by the students participating in the eXploration HABitat X-Hab Academic Innovation Challenge. X-Hab Academic Innovation Challenge is a university-level activity designed to engage and retain students in science, technology, engineering and math, or STEM, disciplines. NASA will directly benefit from the effort by sponsoring the development of innovative habitat concepts from universities which may result in innovative ideas and solutions that could be applied to exploration habitats. For more: http://www.nasa.gov/exploration/technology/deep_space_habitat/xhab/ Photo credit: NASA/Daniel Casper

KSC-2014-2985

NASA Image and Video Library

2014-06-23

CAPE CANAVERAL, Fla. -- At the Kennedy Space Center in Florida, Daniel Zukowski, a University of Colorado Boulder graduate student, describes a Remotely Operated Gardening Rover, or ROGR, which could tend to plants grown in one of the SmartPots, or SPOTS, seen on the right. The system is being developed by the graduate students participating in the eXploration HABitation X-Hab Academic Innovation Challenge. X-Hab Academic Innovation Challenge is a university-level activity designed to engage and retain students in science, technology, engineering and math, or STEM, disciplines. NASA will directly benefit from the effort by sponsoring the development of innovative habitat concepts from universities which may result in innovative ideas and solutions that could be applied to exploration habitats. For more: http://www.nasa.gov/exploration/technology/deep_space_habitat/xhab/ Photo credit: NASA/Daniel Casper

KSC-2011-2275

NASA Image and Video Library

2011-03-11

ORLANDO, Fla. – Robotics Engineer Michael Garrett from NASA's Jet Propulsion Laboratory (JPL) in Pasadena, Calif., talks about the Mars Science Laboratory mission's Curiosity rover at the "For Inspiration and Recognition of Science and Technology," or FIRST, competition at the University of Central Florida in Orlando. JPL unveiled an inflatable, full-size model of the rover at the competition. The rover is scheduled to launch from Cape Canaveral Air Force Station in Florida aboard an Atlas V later this year. FIRST, founded in 1989, is a non-profit organization that designs accessible, innovative programs to build self-confidence, knowledge and life skills while motivating young people to pursue academic opportunities. The robotics competition challenges teams of high school students and their mentors to solve a common problem in a six-week timeframe using a standard kit of parts and a common set of rules. Photo credit: NASA/Glenn Benson

Parallel, Real-Time and Pipeline Data Reduction for the ROVER Sub-mm Heterodyne Polarimeter on the JCMT with ACSIS and ORAC-DR

NASA Astrophysics Data System (ADS)

Leech, J.; Dewitt, S.; Jenness, T.; Greaves, J.; Lightfoot, J. F.

2005-12-01

ROVER is a rotating waveplate polarimeter for use with (sub)mm heterodyne instruments, particularly the 16 element focal plane Heterodyne Array Receiver HARP tep{Smit2003} due for commissioning on the JCMT in 2004. The ROVER/HARP back-end will be a digital auto-correlation spectrometer, known as ACSIS, designed specifically for the demanding data volumes from the HARP array receiver. ACSIS is being developed by DRAO, Penticton and UKATC. This paper will describe the data reduction of ROVER polarimetry data both in real-time by ACSIS-DR, and through the ORAC-DR data reduction pipeline.

Immersive Environments for Mission Operations: Beyond Mars Pathfinder

NASA Technical Reports Server (NTRS)

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

1998-01-01

Immersive environments are just beginning to be used to support mission operations at the Jet Propulsion Laboratory. This technology contributed to the Mars Pathfinder Mission in planning sorties for the Sojourner rover.

Recent Projects in the KSC Applied Physics Lab

NASA Technical Reports Server (NTRS)

Starr, Stanley

2013-01-01

Topics include: Shuttle heritage; ISRU /RESOLVE: a) Payload for Lunar Lander/Rover on Polar Areas of Moon. b) Avionics/Software. New Technologies for Exploration: a) Radiation Shielding work. b) Cooperative Tractor Beams.

2014 NASA Centennial Challenges Sample Return Robot Challenge

NASA Image and Video Library

2014-06-10

The Oregon State University Mars Rover Team follows their robot on the practice field during the 2014 NASA Centennial Challenges Sample Return Robot Challenge, Tuesday, June 10, 2014, at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. The Oregon State University Mars Rover Team is one of eighteen teams competing for a $1.5 million NASA prize purse. Teams will be required to demonstrate autonomous robots that can locate and collect samples from a wide and varied terrain, operating without human control. The objective of this NASA-WPI Centennial Challenge is to encourage innovations in autonomous navigation and robotics technologies. Innovations stemming from the challenge may improve NASA's capability to explore a variety of destinations in space, as well as enhance the nation's robotic technology for use in industries and applications on Earth. Photo Credit: (NASA/Joel Kowsky)

2014 NASA Centennial Challenges Sample Return Robot Challenge

NASA Image and Video Library

2014-06-10

The Oregon State University Mars Rover Team, from Corvallis, Oregon, follows their robot on the practice field during the 2014 NASA Centennial Challenges Sample Return Robot Challenge, Tuesday, June 10, 2014, at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. The Oregon State University Mars Rover Team is one of eighteen teams competing for a $1.5 million NASA prize purse. Teams will be required to demonstrate autonomous robots that can locate and collect samples from a wide and varied terrain, operating without human control. The objective of this NASA-WPI Centennial Challenge is to encourage innovations in autonomous navigation and robotics technologies. Innovations stemming from the challenge may improve NASA's capability to explore a variety of destinations in space, as well as enhance the nation's robotic technology for use in industries and applications on Earth. Photo Credit: (NASA/Joel Kowsky)

KSC-2014-2982

NASA Image and Video Library

2014-06-23

CAPE CANAVERAL, Fla. -- At the Kennedy Space Center in Florida, Heather Hava, who is working on a doctorate in aerospace engineering sciences at the University of Colorado Boulder, makes adjustments on a Remotely Operated Gardening Rover, or ROGR, which could tend plants on a deep-space habitat. X-Hab Academic Innovation Challenge is a university-level activity designed to engage and retain students in science, technology, engineering and math, or STEM, disciplines. NASA will directly benefit from the effort by sponsoring the development of innovative habitat concepts from universities which may result in innovative ideas and solutions that could be applied to exploration habitats. For more: http://www.nasa.gov/exploration/technology/deep_space_habitat/xhab/ Photo credit: NASA/Daniel Casper

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

NASA Technical Reports Server (NTRS)

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

2003-01-01

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

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

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

NASA Astrophysics Data System (ADS)

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

2003-01-01

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

KSC-03PD-1845

NASA Technical Reports Server (NTRS)

2003-01-01

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

Rover Sequencing and Visualization Program

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

Rovers for intelligent, agile traverse of challenging terrain

NASA Technical Reports Server (NTRS)

Schenker, P.; Huntsberger, T.; Pirjanian, P.; Dubowsky, S.; Iagnemma, K.; Sujan, V.

2003-01-01

Planetary surface mobility has to date been limited to benign locations. If rover systems could be developed for more challenging terrain, e.g., sloped and irregularly feathered areas, then planetary science opportunities would be greatly expanded.

Experiences with operations and autonomy of the Mars Pathfinder Microrover.

NASA Astrophysics Data System (ADS)

Mishkin, A. H.; Morrison, J. C.; Nguyen, T. T.; Stone, H. W.; Cooper, B. K.; Wilcox, B. H.

The Microrover Flight Experiment (MFEX) is a NASA OACT (Office of Advanced Concepts and Technology) flight experiment which, integrated with the Mars Pathfinder (MPF) lander and spacecraft system, landed on Mars on July 4, 1997. In the succeeding 30 sols (1 sol = 1 Martian day), the Sojourner microrover accomplished all of its primary and extended mission objectives. After completion of the originally planned extended mission, MFEX continued to conduct a series of technology experiments, deploy its alpha proton X-ray spectrometer (APXS) on rocks and soil, and image both terrain features and the lander. This mission was conducted under the constraints of a once-per-sol opportunity for command and telemetry transmissions between the lander and Earth operators. As such, the MFEX rover was required to carry out its mission, including terrain navigation and contingency response, under supervised autonomous control. For example, goal locations were specified daily by human operators; the rover then safely traversed to these locations. During traverses, the rover autonomously detected and avoided rock, slope, and drop-off hazards, changing its path as needed before turning back towards its goal. This capability to operate in an unmodeled environment, choosing actions in response to sensor input to accomplish requested objectives, is unique among robotic space missions to date.

Mars Exploration Rover Operations with the Science Activity Planner

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

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

NASA Astrophysics Data System (ADS)

Derveni, Mariliza

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

Developing an Augmented Reality Environment for Earth Science Education

NASA Astrophysics Data System (ADS)

Pratt, M. J.; Skemer, P. A.; Arvidson, R. E.

2017-12-01

The emerging field of augmented reality (AR) provides new and exciting ways to explore geologic phenomena for research and education. The primary advantage of AR is that it allows users to physically explore complex three-dimensional structures that were previously inaccessible, for example a remote geologic outcrop or a mineral structure at the atomic scale. It is used, for example, with OnSight software during tactical operations to plan the Mars Curiosity rover's traverses by providing virtual views to walk through terrain and the rover at true scales. This mode of physical exploration allows users more freedom to investigate and understand the 3D structure than is possible on a flat computer screen, or within a static PowerPoint presentation during a classroom lecture. The Microsoft HoloLens headset provides the most-advanced, mobile AR platform currently available to developers. The Fossett Laboratory for Virtual Planetary Exploration at Washington University in St. Louis has applied this technology, coupled with photogrammetric software and the Unity 3D gaming engine, to develop photorealistic environments of 3D geologic outcrops from around the world. The untethered HoloLens provides an ideal platform for a classroom setting as it allows for shared experiences of the holograms of interest, projecting them in the same location for all users to explore. Furthermore, the HoloLens allows for face-to-face communication during use that is important in teaching, a feature that virtual reality does not allow. Our development of an AR application includes the design of an online database of photogrammetric outcrop models curated for the current limitations of AR technology. This database will be accessible to both those wishing to submit models, and is free to those wishing to use the application for teaching, outreach or research purposes.

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

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.

An update on Lab Rover: A hospital material transporter

NASA Technical Reports Server (NTRS)

Mattaboni, Paul

1994-01-01

The development of a hospital material transporter, 'Lab Rover', is described. Conventional material transport now utilizes people power, push carts, pneumatic tubes and tracked vehicles. Hospitals are faced with enormous pressure to reduce operating costs. Cyberotics, Inc. developed an Autonomous Intelligent Vehicle (AIV). This battery operated service robot was designed specifically for health care institutions. Applications for the AIV include distribution of clinical lab samples, pharmacy drugs, administrative records, x-ray distribution, meal tray delivery, and certain emergency room applications. The first AIV was installed at Lahey Clinic in Burlington, Mass. Lab Rover was beta tested for one year and has been 'on line' for an additional 2 years.

First Image from a Mars Rover Choosing a Target

NASA Image and Video Library

2010-03-23

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

TU Berlin Rover Family for Terrestrial Testing of Complex Planetary Mission Scenarios

NASA Astrophysics Data System (ADS)

Kryza, L.; Brieß, K.

2018-04-01

The TU Berlin has developed a family of planetary rovers for educational use and research activities. The paper will introduce these cost-effective systems, which can be used for analogue mission demonstration on Earth.

Planning for execution monitoring on a planetary rover

NASA Technical Reports Server (NTRS)

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

1990-01-01

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

Integrated optimization of planetary rover layout and exploration routes

NASA Astrophysics Data System (ADS)

Lee, Dongoo; Ahn, Jaemyung

2018-01-01

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

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.

Yogi the rock - 3D

NASA Technical Reports Server (NTRS)

1997-01-01

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

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

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

Applications of Surface Penetrating Radar for Mars Exploration

NASA Astrophysics Data System (ADS)

Li, H.; Li, C.; Ran, S.; Feng, J.; Zuo, W.

2015-12-01

Surface Penetrating Radar (SPR) is a geophysical method that uses electromagnetic field probe the interior structure and lithological variations of a lossy dielectric materials, it performs quite well in dry, icy and shallow-soil environments. The first radar sounding of the subsurface of planet was carried out by Apollo Lunar Sounder Experiment (ALSE) of the Apollo 17 in 1972. ALSE provided very precise information about the moon's topography and revealed structures beneath the surface in both Mare Crisium and Mare Serenitatis. Russian Mars'92 was the first Mars exploration mission that tried to use SPR to explore martian surface, subsurface and ionosphere. Although Mars'96 launch failed in 1996, Russia(Mars'98, cancelled in 1998; Phobos-Grunt, launch failed in 2011), ESA(Mars Express, succeeded in 2003; Netlander, cancelled in 2003; ExoMars 2018) and NASA(MRO, succeeded in 2005; MARS 2020) have been making great effects to send SPR to Mars, trying to search for the existence of groundwater and life in the past 20 years. So far, no Ground Penetrating Radar(GPR) has yet provided in situ observations on the surface of Mars. In December 2013, China's CE-3 lunar rover (Yuto) equipped with a GPR made the first direct measurement of the structure and depth of the lunar soil, and investigation of the lunar crust structure along the rover path. China's Mars Exploration Program also plans to carry the orbiting radar sounder and rover GPR to characterize the nature of subsurface water or ices and the layered structure of shallow subsurface of Mars. SPR can provide diversity of applications for Mars exploration , that are: to map the distribution of solid and liquid water in the upper portions of the Mars' crust; to characterize the subsurface geologic environment; to investigate the planet's subsurface to better understand the evolution and habitability of Mars; to perform the martain ionosphere sounding. Based on SPR's history and achievements, combined with the development of radar technology, SPR's technological trends applied in moon and deep space exploration are summarized in the following: Technological convergence in SPR and SAR(Synthetic Aperture Radar); Muliti-frequency and Multi-polarization; Bistatic or multistatic SPRs for geophysical network; Tomography.

Sunset Sequence in Mars Gale Crater Animation

NASA Image and Video Library

2015-05-08

NASA's Curiosity Mars rover recorded this sequence of views of the sun setting at the close of the mission's 956th Martian day, or sol (April 15, 2015), from the rover's location in Gale Crater. The four images shown in sequence here were taken over a span of 6 minutes, 51 seconds. This was the first sunset observed in color by Curiosity. The images come from the left-eye camera of the rover's Mast Camera (Mastcam). The color has been calibrated and white-balanced to remove camera artifacts. Mastcam sees color very similarly to what human eyes see, although it is actually a little less sensitive to blue than people are. Dust in the Martian atmosphere has fine particles that permit blue light to penetrate the atmosphere more efficiently than longer-wavelength colors. That causes the blue colors in the mixed light coming from the sun to stay closer to sun's part of the sky, compared to the wider scattering of yellow and red colors. The effect is most pronounced near sunset, when light from the sun passes through a longer path in the atmosphere than it does at mid-day. Malin Space Science Systems, San Diego, built and operates the rover's Mastcam. NASA's Jet Propulsion Laboratory, a division of the California Institute of Technology, Pasadena, manages the Mars Science Laboratory Project for NASA's Science Mission Directorate, Washington. JPL designed and built the project's Curiosity rover. http://photojournal.jpl.nasa.gov/catalog/PIA19401

Technology Overview and Assessment for Small-Scale EDL Systems

NASA Technical Reports Server (NTRS)

Heidrich, Casey R.; Smith, Brandon P.; Braun, Robert D.

2016-01-01

Motivated by missions to land large rovers and humans at Mars and other bodies, high-mass EDL technologies are a prevalent trend in the research community. In contrast, EDL systems for low-mass payloads have attracted less attention. Significant potential in science and discovery exists in small-scale EDL systems. Payloads acting secondary to a flagship mission are a currently under-utilzed resource. Before taking advantage of these opportunities, further developed of scaled EDL technologies is required. The key limitations identified in this study are compact decelerators and deformable impact systems. Current technologies may enable rough landing of small payloads, with moderate restrictions in packaging volume. Utilization of passive descent and landing stages will greatly increase the applicability of small systems, allowing for vehicles robust to entry environment uncertainties. These architectures will provide an efficient means of achieving science and support objectives while reducing cost and risk margins of a parent mission.

ChemCam rock laser for Mars Science Laboratory "Curiosity"

ScienceCinema

Wiens, Roger

2018-02-06

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

ChemCam rock laser for Mars Science Laboratory "Curiosity"

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

Wiens, Roger

2010-09-03

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

A Raman Spectrometer for the ExoMars 2020 Rover

NASA Astrophysics Data System (ADS)

Moral, A. G.; Rull, F.; Maurice, S.; Hutchinson, I.; Canora, C. P.; Seoane, L.; Rodríguez, P.; Canchal, R.; Gallego, P.; Ramos, G.; López, G.; Prieto, J. A. R.; Santiago, A.; Santamaría, P.; Colombo, M.; Belenguer, T.; Forni, O.

2017-09-01

The Raman project is devoted to the development of a Raman spectrometer and the support science associated for the rover EXOMARS mission to be launched in 2020. ExoMars is a double mission with two different launch opportunities, first one launched in March 2016 allowed to put in orbit the TGO with the communication system for the next mission. And the second one in 2020, deploying a rover which includes for the first time in the robotic exploration of Mars, a drill capable to obtain samples from the subsurface up to 2 meters depth. These samples will be crushed into a fine powder and delivered to the analytical instruments suite inside the rover by means of a dosing station. The EQM has been already qualified under a very demanding thermo mechanical environment, and under EMC tests, finally achieving required scientific performances. The RLS Engineering and Qualification Model has been manufactured and is expected to be delivered by May 2017, after a full qualification testing campaign developed during 2016 Q4, and 2017 Q1. It will finally delivered to ESA, by July 2017. December 2017 at TAS-I premises will do RLS FM delivery to ESA, for its final integration on the ExoMars 2020 Rover.

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.

Nuclear thermal rocket workshop reference system Rover/NERVA

NASA Technical Reports Server (NTRS)

Borowski, Stanley K.

1991-01-01

The Rover/NERVA engine system is to be used as a reference, against which each of the other concepts presented in the workshop will be compared. The following topics are reviewed: the operational characteristics of the nuclear thermal rocket (NTR); the accomplishments of the Rover/NERVA programs; and performance characteristics of the NERVA-type systems for both Mars and lunar mission applications. Also, the issues of ground testing, NTR safety, NASA's nuclear propulsion project plans, and NTR development cost estimates are briefly discussed.

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.

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.

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

NASA Technical Reports Server (NTRS)

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

2011-01-01

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

Licancabur Volcano, Bolivia and life in the Atacama: Environmental physics and analogies to Mars

NASA Astrophysics Data System (ADS)

Hock, Andrew Nelson

Although there is no perfect environmental analog to Mars on Earth, quantitative study of relevant terrestrial field sites can serve as the basis for physical models and technology development to aid future exploration. This dissertation describes original field and laboratory research on two terrestrial analog sites: Licancabur Volcano, Bolivia, and the Atacama Desert, Chile. Atop Licancabur, at an elevation of nearly 6,000 meters above sea level, sits the highest volcanic lake on Earth. Prior to this work, little was known about the lake, its waters, the role of volcanism or its potential relationship to locales on Mars. In the first part of this work, I describe observations of the lake resulting from several years of field study, including data on meteorological conditions and solar irradiance. These and other measurements provide the basis for (1) the first quantitative mass and energy balance model of the lake, and (2) the first determination of the altitude effect on solar visible and ultraviolet flux from the high altitude summit. Under the observed conditions, model results indicate: lake waters are primarily meteoric in origin and evaporating rapidly; volcanic input is not required to explain observations of lake water temperature or year-end model results. Nearby, Chile's Atacama Desert is known to be one of the driest, most inhospitable environments on Earth. There, environmental similarities to Mars provide an apt testing ground for new astrobiological exploration technologies. In the latter part of this work, I present results from my work with the Life In The Atacama (LITA) Mars rover field experiment. In particular, I report on the development of a new data analysis tool named the LITA Data Scoring System (DSS). Subject to the user-defined constraints, the DSS was used to facilitate targeting, analysis and mapping of rover science results relevant to potential habitability and evidence for life at three desert field sites. Although experimental in nature, the DSS demonstrated the utility of this type of tool for future astrobiology rovers. The quantitative environmental and operational analogies to Mars are discussed in the conclusion, where they form the basis for recommendations on future avenues of research.

Detection of microbes in the subsurface

NASA Technical Reports Server (NTRS)

White, David C.; Tunlid, Anders

1989-01-01

The search for evidence of microbial life in the deep subsurface of Earth has implications for the Mars Rover Sampling Return Missions program. If suitably protected environments can be found on Mars then the instrumentation to detect biomarkers could be used to examine the molecular details. Finding a lipid in Martian soil would represent possibly the simplest test for extant or extinct life. A device that could do a rapid extraction possibly using the supercritical fluid technology under development now with a detection of the carbon content would clearly indicate a sample to be returned.

Nuclear Thermal Propulsion: A Joint NASA/DOE/DOD Workshop

NASA Technical Reports Server (NTRS)

Clark, John S. (Editor)

1991-01-01

Papers presented at the joint NASA/DOE/DOD workshop on nuclear thermal propulsion are compiled. The following subject areas are covered: nuclear thermal propulsion programs; Rover/NERVA and NERVA systems; Low Pressure Nuclear Thermal Rocket (LPNTR); particle bed reactor nuclear rocket; hybrid propulsion systems; wire core reactor; pellet bed reactor; foil reactor; Droplet Core Nuclear Rocket (DCNR); open cycle gas core nuclear rockets; vapor core propulsion reactors; nuclear light bulb; Nuclear rocket using Indigenous Martian Fuel (NIMF); mission analysis; propulsion and reactor technology; development plans; and safety issues.

Continuous monitoring of the lunar or Martian subsurface using on-board pattern recognition and neural processing of Rover geophysical data

NASA Technical Reports Server (NTRS)

Glass, Charles E.; Boyd, Richard V.; Sternberg, Ben K.

1991-01-01

The overall aim is to provide base technology for an automated vision system for on-board interpretation of geophysical data. During the first year's work, it was demonstrated that geophysical data can be treated as patterns and interpreted using single neural networks. Current research is developing an integrated vision system comprising neural networks, algorithmic preprocessing, and expert knowledge. This system is to be tested incrementally using synthetic geophysical patterns, laboratory generated geophysical patterns, and field geophysical patterns.

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

NASA Technical Reports Server (NTRS)

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

2011-01-01

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

KSC-2014-2984

NASA Image and Video Library

2014-06-23

CAPE CANAVERAL, Fla. -- At the Kennedy Space Center in Florida, Heather Hava, who is working on a doctorate in aerospace engineering sciences at the University of Colorado Boulder, describes a Remotely Operated Gardening Rover, or ROGR, which could tend to plants grown in one of the SmartPots, or SPOTS seen on the right. The system is being developed by the graduate students participating in the eXploration HABitat X-Hab Academic Innovation Challenge. X-Hab Academic Innovation Challenge is a university-level activity designed to engage and retain students in science, technology, engineering and math, or STEM, disciplines. NASA will directly benefit from the effort by sponsoring the development of innovative habitat concepts from universities which may result in innovative ideas and solutions that could be applied to exploration habitats. For more: http://www.nasa.gov/exploration/technology/deep_space_habitat/xhab/ Photo credit: NASA/Daniel Casper

Exploration Life Support Critical Questions for Future Human Space Missions

NASA Technical Reports Server (NTRS)

Ewert, Michael K.; Barta, Daniel J.; McQuillan, Jeff

2009-01-01

Exploration Life Support (ELS) is a project under NASA s Exploration Technology Development Program. The ELS Project plans, coordinates and implements the development of advanced life support technologies for human exploration missions in space. Recent work has focused on closed loop atmosphere and water systems for a lunar outpost, including habitats and pressurized rovers. But, what are the critical questions facing life support system developers for these and other future human missions? This paper explores those questions and discusses how progress in the development of ELS technologies can help answer them. The ELS Project includes Atmosphere Revitalization Systems (ARS), Water Recovery Systems (WRS), Waste Management Systems (WMS), Habitation Engineering, Systems Integration, Modeling and Analysis (SIMA), and Validation and Testing, which includes the sub-elements Flight Experiments and Integrated Testing. Systems engineering analysis by ELS seeks to optimize the overall mission architecture by considering all the internal and external interfaces of the life support system and the potential for reduction or reuse of commodities. In particular, various sources and sinks of water and oxygen are considered along with the implications on loop closure and the resulting launch mass requirements.

Exomars Mission Achievements

NASA Astrophysics Data System (ADS)

Lecomte, J.; Juillet, J. J.

2016-12-01

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

Site selection and traverse planning to support a lunar polar rover mission: A case study at Haworth Crater

NASA Astrophysics Data System (ADS)

Heldmann, Jennifer L.; Colaprete, Anthony; Elphic, Richard C.; Bussey, Ben; McGovern, Andrew; Beyer, Ross; Lees, David; Deans, Matt

2016-10-01

Studies of lunar polar volatile deposits are of interest for scientific purposes to understand the nature and evolution of the volatiles, and also for exploration reasons as a possible in situ resource to enable long term human exploration and settlement of the Moon. Both theoretical and observational studies have suggested that significant quantities of volatiles exist in the polar regions, although the lateral and horizontal distribution remains unknown at the km scale and finer resolution. A lunar polar rover mission is required to further characterize the distribution, quantity, and character of lunar polar volatile deposits at these higher spatial resolutions. Here we present a case study for NASA's Resource Prospector (RP) mission concept for a lunar polar rover and utilize this mission architecture and associated constraints to evaluate whether a suitable landing site exists to support an RP flight mission. We evaluate the landing site criteria to characterize the Haworth Crater region in terms of expected hydrogen abundance, surface topography, and prevalence of shadowed regions, as well as solar illumination and direct to Earth communications as a function of time to develop a notional rover traverse plan that addresses both science and engineering requirements. We also present lessons-learned regarding lunar traverse path planning focusing on the critical nature of landing site selection, the influence of illumination patterns on traverse planning, the effects of performing shadowed rover operations, the influence of communications coverage on traverse plan development, and strategic planning to maximize rover lifetime and science at end of mission. Here we present a detailed traverse path scenario for a lunar polar volatiles rover mission and find that the particular site north of Haworth Crater studied here is suitable for further characterization of polar volatile deposits.

Overview of NASA's Thermal Control System Development for Exploration Project

NASA Technical Reports Server (NTRS)

Stephan, Ryan A.

2011-01-01

The now-cancelled Constellation Program included the Orion, Altair, and Lunar Surface Systems project offices. The first two elements, Orion and Altair, were planned to be manned space vehicles while the third element was much more diverse and included several sub-elements. Among other things, these sub-elements were Rovers and a Lunar Habitat. The planned missions involving these systems and vehicles included several risks and design challenges. Due to the unique thermal operating environment, many of these risks and challenges were associated with the vehicles thermal control system. NASA s Exploration Technology Development Program (ETDP) consisted of various technology development projects. The project chartered with mitigating the aforementioned thermal risks and design challenges was the Thermal Control System Development for Exploration Project. These risks and design challenges were being addressed through a rigorous technology development process that was planned to culminate with an integrated thermal control system test. Although the technologies being developed were originally aimed towards mitigating specific Constellation risks, the technology development process is being continued within a new program. This continued effort is justified by the fact that many of the technologies are generically applicable to future spacecraft thermal control systems. The current paper summarizes the development efforts being performed by the technology development project. The development efforts involve heat acquisition and heat rejection hardware including radiators, heat exchangers, and evaporators. The project has also been developing advanced phase change material heat sinks and performing a material compatibility assessment for a promising thermal control system working fluid. The to-date progress and lessons-learned from these development efforts will be discussed throughout the paper.

Development Of Autonomous Systems

NASA Astrophysics Data System (ADS)

Kanade, Takeo

1989-03-01

In the last several years at the Robotics Institute of Carnegie Mellon University, we have been working on two projects for developing autonomous systems: Nablab for Autonomous Land Vehicle and Ambler for Mars Rover. These two systems are for different purposes: the Navlab is a four-wheeled vehicle (van) for road and open terrain navigation, and the Ambler is a six-legged locomotor for Mars exploration. The two projects, however, share many common aspects. Both are large-scale integrated systems for navigation. In addition to the development of individual components (eg., construction and control of the vehicle, vision and perception, and planning), integration of those component technologies into a system by means of an appropriate architecture is a major issue.

Student Participation in Mars Sample Return Rover Field Tests, Silver Lake, California

NASA Technical Reports Server (NTRS)

Anderson, R. C.; Arvidson, R. E.; Bowman, J. D.; Dunham, C. D.; Backes, P.; Baumgartner, E. T.; Bell, J.; Dworetzky, S. C.; Klug, S.; Peck, N.

2000-01-01

An integrated team of students and teachers from four high schools across the country developed and implemented their own mission of exploration and discovery using the Mars Sample Return prototype rover, FIDO, at Silver Lake in the Mojave Desert.

Space robotics in the '90s

NASA Technical Reports Server (NTRS)

Ruoff, Carl F.

1989-01-01

The use of telerobots and rovers in space missions is examined. The functioning of the telerobots and rovers and their proposed applications are described. Research developments needed to design robots for specific environments and functions are described. Examples of NASA robotics projects are presented.

Considerations Regarding the Development of an Environmental Control and Life Support System for Lunar Surface Applications

NASA Technical Reports Server (NTRS)

Bagdigian, Robert M.

2008-01-01

NASA is engaged in early architectural analyses and trade studies aimed at identifying requirements, predicting performance and resource needs, characterizing mission constraints and sensitivities, and guiding technology development planning needed to conduct a successful human exploration campaign of the lunar surface. Conceptual designs and resource estimates for environmental control and life support systems (ECLSS) within pressurized lunar surface habitats and rovers have been considered and compared in order to support these lunar campaign studies. This paper will summarize those concepts and some of the more noteworthy considerations that will likely remain as key drivers in the evolution of the lunar surface ECLSS architecture.

Disturbing Pop-Tart

NASA Technical Reports Server (NTRS)

1997-01-01

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

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

Crew Field Notes: A New Tool for Planetary Surface Exploration

NASA Technical Reports Server (NTRS)

Horz, Friedrich; Evans, Cynthia; Eppler, Dean; Gernhardt, Michael; Bluethmann, William; Graf, Jodi; Bleisath, Scott

2011-01-01

The Desert Research and Technology Studies (DRATS) field tests of 2010 focused on the simultaneous operation of two rovers, a historical first. The complexity and data volume of two rovers operating simultaneously presented significant operational challenges for the on-site Mission Control Center, including the real time science support function. The latter was split into two "tactical" back rooms, one for each rover, that supported the real time traverse activities; in addition, a "strategic" science team convened overnight to synthesize the day's findings, and to conduct the strategic forward planning of the next day or days as detailed in [1, 2]. Current DRATS simulations and operations differ dramatically from those of Apollo, including the most evolved Apollo 15-17 missions, due to the advent of digital technologies. Modern digital still and video cameras, combined with the capability for real time transmission of large volumes of data, including multiple video streams, offer the prospect for the ground based science support room(s) in Mission Control to witness all crew activities in unprecedented detail and in real time. It was not uncommon during DRATS 2010 that each tactical science back room simultaneously received some 4-6 video streams from cameras mounted on the rover or the crews' backpacks. Some of the rover cameras are controllable PZT (pan, zoom, tilt) devices that can be operated by the crews (during extensive drives) or remotely by the back room (during EVAs). Typically, a dedicated "expert" and professional geologist in the tactical back room(s) controls, monitors and analyses a single video stream and provides the findings to the team, commonly supported by screen-saved images. It seems obvious, that the real time comprehension and synthesis of the verbal descriptions, extensive imagery, and other information (e.g. navigation data; time lines etc) flowing into the science support room(s) constitute a fundamental challenge to future mission operations: how can one analyze, comprehend and synthesize -in real time- the enormous data volume coming to the ground? Real time understanding of all data is needed for constructive interaction with the surface crews, and it becomes critical for the strategic forward planning process.

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.

Coordinating Multiple Spacecraft Assets for Joint Science Campaigns

NASA Technical Reports Server (NTRS)

Estlin, Tara; Chien, Steve; Castano, Rebecca; Gaines, Daniel; de Granville, Charles; Doubleday, Josh; Anderson, Robert C.; Knight, Russell; Bornstein, Benjamin; Rabideau, Gregg;

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.

Immersive Environment Technologies for Mars Exploration

NASA Technical Reports Server (NTRS)

Wright, John R.; Hartman, Frank

2000-01-01

JPL's charter includes the unmanned exploration of the Solar System. One of the tools for exploring other planets is the rover as exemplified by Sojourner on the Mars Pathfinder mission. The light speed turnaround time between Earth and the outer planets precludes the use of teleoperated rovers so autonomous operations are built in to the current and upcoming generation devices. As the level of autonomy increases, the mode of operations shifts from low-level specification of activities to a higher-level specification of goals. To support this higher-level activity, it is necessary to provide the operator with an effective understanding of the in-situ environment and also the tools needed to specify the higher-level goals. Immersive environments provide the needed sense of presence to achieve this goal. Use of immersive environments at JPL has two main thrusts that will be discussed in this talk. One is the generation of 3D models of the in-situ environment, in particular the merging of models from different sensors, different modes (orbital, descent, and lander), and even different missions. The other is the use of various tools to visualize the environment within which the rover will be operating to maximize the understanding by the operator. A suite of tools is under development which provide an integrated view into the environment while providing a variety of modes of visualization. This allows the operator to smoothly switch from one mode to another depending on the information and presentation desired.

Mars Cameras Make Panoramic Photography a Snap

NASA Technical Reports Server (NTRS)

2008-01-01

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

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.

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.

KSC-03PD-1853

NASA Technical Reports Server (NTRS)

2003-01-01

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

KSC-03PD-1848

NASA Technical Reports Server (NTRS)

2003-01-01

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

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.

Developing a Free-Piston Stirling Convertor for advanced radioisotope space power systems

NASA Astrophysics Data System (ADS)

Qiu, Songgang; Augenblick, John E.; White, Maurice A.; Peterson, Allen A.; Redinger, Darin L.; Petersen, Stephen L.

2002-01-01

The Department of Energy (DOE) has selected Free-Piston Stirling Convertors as a technology for future advanced radioisotope space power systems. In August 2000, DOE awarded competitive Phase I, Stirling Radioisotope Generator (SRG) power system integration contracts to three major aerospace contractors, resulting in SRG conceptual designs in February 2001. All three contractors based their designs on the Technology Demonstration Convertor (TDC) developed by Stirling Technology Company (STC) for DOE. The contract award to a single system integration contractor for Phases II and III of the SRG program is anticipated in late 2001. The first potential SRG mission is targeted for a Mars rover. This paper provides a description of the Flight Prototype (FP) Stirling convertor design as compared to the previous TDC design. The initial flight prototype units are already undergoing performance tuning at STC. The new design will be hermetically scaled and will provide a weight reduction from approximately 4.8 kg to approximately 3.9 kg. .

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.

In-Situ Resource Utilization for Economical Space Missions

NASA Technical Reports Server (NTRS)

Ramohalli, Kumar

1999-01-01

This paper presents some recent developments in the technologies of ISRU with the specific intention of cost reductions in space missions. Recognizing that a certain level of technology maturation is necessary before the mission designers will seriously consider any technology, the hypothesis is made that the overall cost-index is inversely proportional to the TRL. Also recognizing that the cost is directly proportional to the mass at launch, the cost-index is identified as the ratio of the launch mass to the TRL. Whether this cost-index is the true measure of the overall mission cost is arguable; however, the relative costs of comparable technologies can be readily assessed by applying identical rules of such an evaluation. As one example of this approach, Mars Sample Return (MSR) is studied, and nine competing technologies are evaluated for the key Mars Ascent Vehicle (MAV). It is found that the technology of oxygen production through the dissociation of atmospheric carbon dioxide can be a key technology. In addition to reporting upon this technology briefly, one innovative application that significantly enhances the science capabilities of a rover is discussed.

NEXT-Lunar Lander -an Opportunity for a Close Look at the Lunar South Pole

NASA Astrophysics Data System (ADS)

Homeister, Maren; Thaeter, Joachim; Scheper, Marc; Apeldoorn, Jeffrey; Koebel, David

The NEXT-Lunar Lander mission, as contracted by ESA and investigated by OHB-System and its industrial study team, has two main purposes. The first is technology demonstration for enabling technologies like propulsion-based soft precision landing for future planetary landing missions. This involves also enabling technology experiments, like fuel cell, life science and life support, which are embedded in the stationary payload of the lander. The second main and equally important aspect is the in-situ investigation of the surface of the Moon at the lunar South Pole by stationary payload inside the Lander, deployable payload to be placed in the vicinity of the lander and mobile payload carried by a rover. The currently assessed model payload includes 15 instruments on the lander and additional five on the rover. They are addressing the fields geophysics, geochemistry, geology and radio astronomy preparation. The mission is currently under investigation in frame of a phase A mission study contract awarded by ESA to two independent industrial teams, of which one is led by OHB-System. The phase A activities started in spring 2008 and were conducted until spring 2010. A phase B is expected shortly afterwards. The analysed mission architectures range from a Soyuz-based mission to a Shared-Ariane V class mission via different transfer trajectories. Depending on the scenario payload masses including servicing of 70 to 150 kg can be delivered to the lunar surface. The lander can offer different services to the payload. The stationary payload is powered and conditioned by the lander. Examples for embarked payloads are an optical camera system, a Radio Science Experiment and a radiation monitor. The lander surface payload is deployed to the lunar surface by a 5 DoF robotic arm and will be powered by the Lander. To this group of payloads belong seismometers, a magnetometer and an instrumented Mole. The mobile payload will be carried by a rover. The rover is equipped with its own 5 DoF robotic arm and can travel with an average speed of about 1 cm/s. The Rover is generally tele-operated but has the capability to execute autonomously pre-selected operation tasks, is aware of its current status and analyses potential hazards to avoid loss of its mission by operator failure. It is equipped with a model payload consisting of a camera system for multi-spectra including infra-red, a Raman-LIBS and a CLUPI. In addition its task is to position seismometers at a distance of about 1 km away from the lander. The baseline scenario includes a launch in the 2018 timeframe and one year of surface operations at the Shakleton crater rim. This presentation will focus on the following points: • Mission architecture and spacecraft layout as elaborated during the past study activities • Surface operations of lander and rover • Current mission capability to support scientific investigations at the lunar South Pole

A New Paradigm for Robotic Rovers

NASA Astrophysics Data System (ADS)

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

We are in the process of developing rovers with extreme mobility needed to explore remote, rugged terrain. We call these systems Tetrahedral Explorer Technologies (TETs). Architecture is based on conformable tetrahedra, the simplest space-filling form, as building blocks, single or networked, where apices act as nodes from which struts reversibly deploy. The tetrahedral framework acts as a simple skeletal muscular structure. We have already prototyped a simple robotic walker from a single reconfigurable tetrahedron capable of tumbling and a more evolved 12Tetrahedral Walker, the Autonomous Landed Investigator (ALI), which has interior nodes for payload, more continuous motion, and is commandable through a user friendly interface. ALI is an EMS level mission concept which would allow autonomous in situ exploration of the lunar poles within the next decade. ALI would consist of one or more 12tetrahedral walkers capable of rapid locomotion with the many degrees of freedom and equipped for navigation in the unilluminated, inaccessible and thus largely unexplored rugged terrains where lunar resources are likely to be found: the Polar Regions. ALI walkers would act as roving reconnaissance teams for unexplored regions, analyzing samples along the way.

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

NASA Technical Reports Server (NTRS)

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

Diversity of soils near rover deploy region

NASA Technical Reports Server (NTRS)

1997-01-01

The surface near the rover's egress from the lander contains bright red drift (#1), dark gray rocks such as Cradle (#3), soil intermediate in color to the rocks and drift (#2), and dark red soil on and around the rock Lamb (#4). Globally, Mars is characterized by similar color variations. The spectra of these sites have been ratioed to the drift to highlight their differences. The rocks are less red and have less of a bend in the spectrum at visible wavelengths, indicating less ferric minerals and a more unweathered composition than drift. The intermediate colored soils appear intermediate in the spectral properties as well. The dark red soil at Lamb is darker than drift by about equally as red; the curvature of spectrum at visible wavelengths indicates either more ferric minerals or a larger particle size.

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

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

NASA Technical Reports Server (NTRS)

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

1999-01-01

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

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

NASA Technical Reports Server (NTRS)

Mak, Ronald; Walton, Joan

2005-01-01

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

In Situ Resource Utilization For Mobility In Mars Exploration

NASA Astrophysics Data System (ADS)

Hartman, Leo

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

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

NASA Astrophysics Data System (ADS)

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

2016-03-01

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

Conceptualizing Geosexual Archetypes: Mapping the Sexual Travels and Egocentric Sexual Networks of Gay and Bisexual Men in Toronto, Canada.

PubMed

Gesink, Dionne; Wang, Susan; Guimond, Tim; Kimura, Lauren; Connell, James; Salway, Travis; Gilbert, Mark; Mishra, Sharmistha; Tan, Darrell; Burchell, Ann N; Brennan, David J; Logie, Carmen H; Grace, Daniel

2018-06-01

There are complex, synergistic, and persistent sexually transmitted infection (STI) epidemics affecting gay, bisexual and other men who have sex with men (gbMSM) in every major urban centre across North America. We explored the spatial architecture of egocentric sexual networks for gbMSM in Toronto, Canada. Our integrative mixed methods study included in-depth interviews with 31 gbMSM between May and July 2016. During interviews, participants mapped their egocentric sexual network for the preceding 3 months geographically. At the end, a self-administered survey was used to collect sociodemographic characteristics, online technology use, and STI testing and history. We identified 6 geosexual archetypes: hosters, house-callers, privates, rovers, travellers, and geoflexibles. Hosters always, or almost always (≥80%), hosted sex at their home. House-callers always, or almost always (≥80%), had sex at their partner's home. Rovers always or almost always (≥80%) had sex at public venues (eg, bath houses, sex clubs) and other public spaces (eg, parks, cruising sites). Privates had sex in private-their own home or their partner's (part hoster, part house-caller). Travellers had sex away from their home, either at a partner's home or some other venue or public space (part house-caller, part rover). Geoflexibles had sex in a variety of locations-their home, their partner's home, or public venues. All hosters and rovers, and to a lesser extent, geoflexibles, reported a history of syphilis and human immunodeficiency virus. Prioritizing interventions to hosters, rovers, and geoflexibles may have an important impact on reducing STI transmission.

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.

Diverse Terrain Types on Mount Sharp, Mars

NASA Image and Video Library

2015-05-08

A sweeping panorama combining 33 telephoto images into one Martian vista presents details of several types of terrain visible on Mount Sharp from a location along the route of NASA's Curiosity Mars rover. The rover's Mast Camera (Mastcam) recorded the component images with its right-eye camera on April 10, 2015, during the 952nd Martian day, or sol, of Curiosity's work on Mars, before that sol's drive. The panorama spans from south-southeast, at left, to west-southwest. The color has been approximately white-balanced to resemble how the scene would appear under daytime lighting conditions on Earth. Higher elevations on Mount Sharp are visible at left, including the jagged skyline to the right of a 100-meter scale bar overlaid on the image. (One hundred meters is about 328 feet.) The 2-meter (7-foot) scale bar near the center of the scene is on an exposure of pale mudstone within Mount Sharp's basal geological unit, the Murray formation, and nearby darker rocks. The 3-meter (10-foot) scale bar farther to the right is at the base of a rise called "Gray Wolf Peak." "Logan Pass," a science destination for the rover, is at a dip on the horizon near the right edge of the panorama. Malin Space Science Systems, San Diego, built and operates the rover's Mastcam. NASA's Jet Propulsion Laboratory, a division of the California Institute of Technology, Pasadena, manages the Mars Science Laboratory Project for NASA's Science Mission Directorate, Washington. JPL designed and built the project's Curiosity rover. http://photojournal.jpl.nasa.gov/catalog/PIA19397

Scaling Up Decision Theoretic Planning to Planetary Rover Problems

NASA Technical Reports Server (NTRS)

Meuleau, Nicolas; Dearden, Richard; Washington, Rich

2004-01-01

Because of communication limits, planetary rovers must operate autonomously during consequent durations. The ability to plan under uncertainty is one of the main components of autonomy. Previous approaches to planning under uncertainty in NASA applications are not able to address the challenges of future missions, because of several apparent limits. On another side, decision theory provides a solid principle framework for reasoning about uncertainty and rewards. Unfortunately, there are several obstacles to a direct application of decision-theoretic techniques to the rover domain. This paper focuses on the issues of structure and concurrency, and continuous state variables. We describes two techniques currently under development that address specifically these issues and allow scaling-up decision theoretic solution techniques to planetary rover planning problems involving a small number of goals.

Development Status of PEM Non-Flow-Through Fuel Cell System Technology for NASA Applications

NASA Technical Reports Server (NTRS)

Hoberecht, Mark A.; Jakupca, Ian J.

2011-01-01

Today s widespread development of proton-exchange-membrane (PEM) fuel cell technology for commercial users owes its existence to NASA, where fuel cell technology saw its first applications. Beginning with the early Gemini and Apollo programs, and continuing to this day with the Shuttle Orbiter program, fuel cells have been a primary source of electrical power for many NASA missions. This is particularly true for manned missions, where astronauts are able to make use of the by-product of the fuel cell reaction, potable water. But fuel cells also offer advantages for unmanned missions, specifically when power requirements exceed several hundred watts and primary batteries are not a viable alternative. In recent years, NASA s Exploration Technology Development Program (ETDP) funded the development of fuel cell technology for applications that provide both primary power and regenerative fuel cell energy storage for planned Exploration missions that involved a return to the moon. Under this program, the Altair Lunar Lander was a mission requiring fuel cell primary power. There were also various Lunar Surface System applications requiring regenerative fuel cell energy storage, in which a fuel cell and electrolyzer combine to form an energy storage system with hydrogen, oxygen, and water as common reactants. Examples of these systems include habitat modules and large rovers. In FY11, the ETDP has been replaced by the Enabling Technology Development and Demonstration Program (ETDDP), with many of the same technology goals and requirements applied against NASA s revised Exploration portfolio.

Robust and Opportunistic Autonomous Science for a Potential Titan Aerobot

NASA Technical Reports Server (NTRS)

Gaines, Daniel M.; Estlin, Tara; Schaffer, Steve; Castano, Rebecca; Elfes, Alberto

2010-01-01

We are developing onboard planning and execution technologies to provide robust and opportunistic mission operations for a potential Titan aerobot. Aerobot have the potential for collecting a vast amount of high priority science data. However, to be effective, an aerobot must address several challenges including communication constraints, extended periods without contact with Earth, uncertain and changing environmental conditions, maneuverability constraints and potentially short-lived science opportunities. We are developing the AerOASIS system to develop and test technology to support autonomous science operations for a potential Titan Aerobot. The planning and execution component of AerOASIS is able to generate mission operations plans that achieve science and engineering objectives while respecting mission and resource constraints as well as adapting the plan to respond to new science opportunities. Our technology leverages prior work on the OASIS system for autonomous rover exploration. In this paper we describe how the OASIS planning component was adapted to address the unique challenges of a Titan Aerobot and we describe a field demonstration of the system with the JPL prototype aerobot.

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

NASA Technical Reports Server (NTRS)

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

2003-01-01

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

Exploration EVA System

NASA Technical Reports Server (NTRS)

Kearney, Lara

2004-01-01

In January 2004, the President announced a new Vision for Space Exploration. NASA's Office of Exploration Systems has identified Extravehicular Activity (EVA) as a critical capability for supporting the Vision for Space Exploration. EVA is required for all phases of the Vision, both in-space and planetary. Supporting the human outside the protective environment of the vehicle or habitat and allow ing him/her to perform efficient and effective work requires an integrated EVA "System of systems." The EVA System includes EVA suits, airlocks, tools and mobility aids, and human rovers. At the core of the EVA System is the highly technical EVA suit, which is comprised mainly of a life support system and a pressure/environmental protection garment. The EVA suit, in essence, is a miniature spacecraft, which combines together many different sub-systems such as life support, power, communications, avionics, robotics, pressure systems and thermal systems, into a single autonomous unit. Development of a new EVA suit requires technology advancements similar to those required in the development of a new space vehicle. A majority of the technologies necessary to develop advanced EVA systems are currently at a low Technology Readiness Level of 1-3. This is particularly true for the long-pole technologies of the life support system.

Small image laser range finder for planetary rover

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

Lunar, Cislunar, Near/Farside Laser Retroreflectors for the Accurate: Positioning of Landers/Rovers/Hoppers/Orbiters, Commercial Georeferencing, Test of Relativistic Gravity, and Metrics of the Lunar Interior

NASA Astrophysics Data System (ADS)

Dell'Agnello, S.; Currie, D.; Ciocci, E.; Contessa, S.; Delle Monache, G.; March, R.; Martini, M.; Mondaini, C.; Porcelli, L.; Salvatori, L.; Tibuzzi, M.; Bianco, G.; Vittori, R.; Chandler, J.; Murphy, T.; Maiello, M.; Petrassi, M.; Lomastro, A.

2017-10-01

We developed next-generation lunar, cislunar, near/farside laser retroreflectors for the improved/accurate: Positioning of landers/rovers/hoppers/orbiters, commercial georeferencing, test of relativistic gravity, and metrics of the lunar interior.

The Development of the Chemin Mineralogy Instrument and Its Deployment on Mars (and Latest Results from the Mars Science Laboratory Rover Curiosity)

NASA Technical Reports Server (NTRS)

Blake, David F.

2014-01-01

The CheMin instrument (short for "Chemistry and Mineralogy") on the Mars Science Laboratory rover Curiosity is one of two "laboratory quality" instruments on board the Curiosity rover that is exploring Gale crater, Mars. CheMin is an X-ray diffractometer that has for the first time returned definitive and fully quantitative mineral identifications of Mars soil and drilled rock. I will describe CheMin's 23-year development from an idea to a spacecraft qualified instrument, and report on some of the discoveries that Curiosity has made since its entry, descent and landing on Aug. 6, 2012, including the discovery and characterization of the first habitable environment on Mars.

Current Development of Nuclear Thermal Propulsion technologies at the Center for Space Nuclear Research

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

Robert C. O'Brien; Steven K. Cook; Nathan D. Jerred

Nuclear power and propulsion has been considered for space applications since the 1950s. Between 1955 and 1972 the US built and tested over twenty nuclear reactors / rocket engines in the Rover/NERVA programs1. The Aerojet Corporation was the prime contractor for the NERVA program. Modern changes in environmental laws present challenges for the redevelopment of the nuclear rocket. Recent advances in fuel fabrication and testing options indicate that a nuclear rocket with a fuel composition that is significantly different from those of the NERVA project can be engineered; this may be needed to ensure public support and compliance with safetymore » requirements. The Center for Space Nuclear Research (CSNR) is pursuing a number of technologies, modeling and testing processes to further the development of safe, practical and affordable nuclear thermal propulsion systems.« less

KSC-2014-2986

NASA Image and Video Library

2014-06-23

CAPE CANAVERAL, Fla. -- At the Kennedy Space Center in Florida, Heather Hava, right, who is working on a doctorate in aerospace engineering sciences at the University of Colorado Boulder, describes a computerized SmartPot, or SPOT, which could be used to grow plants in a deep-space habitat. The SPOTs could be tended by a Remotely Operated Gardening Rover, or ROGR, seen on the left. The system is being developed by the graduate students participating in the eXploration HABitat X-Hab Academic Innovation Challenge. X-Hab Academic Innovation Challenge is a university-level activity designed to engage and retain students in science, technology, engineering and math, or STEM, disciplines. NASA will directly benefit from the effort by sponsoring the development of innovative habitat concepts from universities which may result in innovative ideas and solutions that could be applied to exploration habitats. For more: http://www.nasa.gov/exploration/technology/deep_space_habitat/xhab/ Photo credit: NASA/Daniel Casper

KSC-2014-2983

NASA Image and Video Library

2014-06-23

CAPE CANAVERAL, Fla. -- At the Kennedy Space Center in Florida, Heather Hava, who is working on a doctorate in aerospace engineering sciences at the University of Colorado Boulder, makes adjustments on a Remotely Operated Gardening Rover, or ROGR, which could tend to plants grown in one of the SmartPots, or SPOTS seen on the right. The system is being developed by the graduate students participating in the eXploration HABitat X-Hab Academic Innovation Challenge. X-Hab Academic Innovation Challenge is a university-level activity designed to engage and retain students in science, technology, engineering and math, or STEM, disciplines. NASA will directly benefit from the effort by sponsoring the development of innovative habitat concepts from universities which may result in innovative ideas and solutions that could be applied to exploration habitats. For more: http://www.nasa.gov/exploration/technology/deep_space_habitat/xhab/ Photo credit: NASA/Daniel Casper

SSTAC/ARTS review of the draft Integrated Technology Plan (ITP). Volume 8: Aerothermodynamics Automation and Robotics (A/R) systems sensors, high-temperature superconductivity

NASA Technical Reports Server (NTRS)

1991-01-01

Viewgraphs of briefings presented at the SSTAC/ARTS review of the draft Integrated Technology Plan (ITP) on aerothermodynamics, automation and robotics systems, sensors, and high-temperature superconductivity are included. Topics covered include: aerothermodynamics; aerobraking; aeroassist flight experiment; entry technology for probes and penetrators; automation and robotics; artificial intelligence; NASA telerobotics program; planetary rover program; science sensor technology; direct detector; submillimeter sensors; laser sensors; passive microwave sensing; active microwave sensing; sensor electronics; sensor optics; coolers and cryogenics; and high temperature superconductivity.

SSTAC/ARTS review of the draft Integrated Technology Plan (ITP). Volume 8: Aerothermodynamics Automation and Robotics (A/R) systems sensors, high-temperature superconductivity

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

Not Available

Viewgraphs of briefings presented at the SSTAC/ARTS review of the draft Integrated Technology Plan (ITP) on aerothermodynamics, automation and robotics systems, sensors, and high-temperature superconductivity are included. Topics covered include: aerothermodynamics; aerobraking; aeroassist flight experiment; entry technology for probes and penetrators; automation and robotics; artificial intelligence; NASA telerobotics program; planetary rover program; science sensor technology; direct detector; submillimeter sensors; laser sensors; passive microwave sensing; active microwave sensing; sensor electronics; sensor optics; coolers and cryogenics; and high temperature superconductivity.

Communications Blackout Predictions for Atmospheric Entry of Mars Science Laboratory

NASA Technical Reports Server (NTRS)

Morabito, David D.; Edquist, Karl

2005-01-01

The Mars Science Laboratory (MSL) is expected to be a long-range, long-duration science laboratory rover on the Martian surface. MSL will provide a significant milestone that paves the way for future landed missions to Mars. NASA is studying options to launch MSL as early as 2009. MSL will be the first mission to demonstrate the new technology of 'smart landers', which include precision landing and hazard avoidance in order to -land at scientifically interesting sites that would otherwise be unreachable. There are three elements to the spacecraft; carrier (cruise stage), entry vehicle, and rover. The rover will have an X-band direct-to-Earth (DTE) link as well as a UHF proximity link. There is also a possibility of an X-band proximity link. Given the importance of collecting critical event telemetry data during atmospheric entry, it is important to understand the ability of a signal link to be maintained, especially during the period near peak convective heating. The received telemetry during entry (or played back later) will allow for the performance of the Entry-Descent-Landing technologies to be assessed. These technologies include guided entry for precision landing, hazard avoidance, a new sky-crane landing system and powered descent. MSL will undergo an entry profile that may result in a potential communications blackout caused by ionized plasma for short periods near peak heating. The vehicle will use UHF and possibly X-band during the entry phase. The purpose of this report is to quantify or bound the likelihood of any such blackout at UHF frequencies (401 MHz) and X-band frequencies (8.4 GHz). Two entry trajectory scenarios were evaluated: a stressful entry trajectory to quantify an upper-bound for any possible blackout period, and a nominal likely trajectory to quantify likelihood of blackout for such cases.

The Electrostatic Environments of Mars and the Moon

NASA Technical Reports Server (NTRS)

Calle, Carlos I.

2011-01-01

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

The Embudito Mission: A Case Study of the Systematics of Autonomous Ground Mobile Robots

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

EICKER,PATRICK J.

2001-02-01

Ground mobile robots are much in the mind of defense planners at this time, being considered for a significant variety of missions with a diversity ranging from logistics supply to reconnaissance and surveillance. While there has been a very large amount of basic research funded in the last quarter century devoted to mobile robots and their supporting component technologies, little of this science base has been fully developed and deployed--notable exceptions being NASA's Mars rover and several terrestrial derivatives. The material in this paper was developed as a first exemplary step in the development of a more systematic approach tomore » the R and D of ground mobile robots.« less

Rock Garden Mosaic

NASA Technical Reports Server (NTRS)

1997-01-01

This image mosaic of part of the 'Rock Garden' was taken by the Sojourner rover's left front camera on Sol 71 (September 14). The rock 'Shark' is at left center and 'Half Dome' is at right. Fine-scale textures on the rocks are clearly seen. Broken crust-like material is visible at bottom center.

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

Autonomous Sample Acquisition for Planetary and Small Body Explorations

NASA Technical Reports Server (NTRS)

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

2000-01-01

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

Mars Rover Step Toward Possible Resumption of Drilling

NASA Image and Video Library

2017-10-23

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

High Gain Antenna Gimbal for the 2003-2004 Mars Exploration Rover Program

NASA Technical Reports Server (NTRS)

Sokol, Jeff; Krishnan, Satish; Ayari, Laoucet

2004-01-01

The High Gain Antenna Assemblies built for the 2003-2004 Mars Exploration Rover (MER) missions provide the primary communication link for the Rovers once they arrive on Mars. The High Gain Antenna Gimbal (HGAG) portion of the assembly is a two-axis gimbal that provides the structural support, pointing, and tracking for the High Gain Antenna (HGA). The MER mission requirements provided some unique design challenges for the HGAG. This paper describes all the major subsystems of the HGAG that were developed to meet these challenges, and the requirements that drove their design.

Prospecting Rovers for Lunar Exploration

NASA Technical Reports Server (NTRS)

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

2007-01-01

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

Adaptive Caching Concept

NASA Image and Video Library

2015-06-10

This diagram, superimposed on a photo of Martian landscape, illustrates a concept called "adaptive caching," which is in development for NASA's 2020 Mars rover mission. In addition to the investigations that the Mars 2020 rover will conduct on Mars, the rover will collect carefully selected samples of Mars rock and soil and cache them to be available for possible return to Earth if a Mars sample-return mission is scheduled and flown. Each sample will be stored in a sealed tube. Adaptive caching would result in a set of samples, up to the maximum number of tubes carried on the rover, being placed on the surface at the discretion of the mission operators. The tubes holding the collected samples would not go into a surrounding container. In this illustration, green dots indicate "regions of interest," where samples might be collected. The green diamond indicates one region of interest serving as the depot for the cache. The green X at upper right represents the landing site. The solid black line indicates the rover's route during its prime mission, and the dashed black line indicates its route during an extension of the mission. The base image is a portion of the "Everest Panorama" taken by the panoramic camera on NASA's Mars Exploration Rover Spirit at the top of Husband Hill in 2005. http://photojournal.jpl.nasa.gov/catalog/PIA19150

Multiple-Agent Air/Ground Autonomous Exploration Systems

NASA Technical Reports Server (NTRS)

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

2007-01-01

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

Autonomous localisation of rovers for future planetary exploration

NASA Astrophysics Data System (ADS)

Bajpai, Abhinav

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

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.

Spirit's Winter Work Site

NASA Technical Reports Server (NTRS)

2006-01-01

[figure removed for brevity, see original site] Annotated Version

This portion of an image acquired by the Mars Reconnaissance Orbiter's High Resolution Imaging Science Experiment camera shows the Spirit rover's winter campaign site. Spirit was parked on a slope tilted 11 degrees to the north to maximize sunlight during the southern winter season. 'Tyrone' is an area where the rover's wheels disturbed light-toned soils. Remote sensing and in-situ analyses found the light-toned soil at Tyrone to be sulfate rich and hydrated. The original picture is catalogued as PSP_001513_1655_red and was taken on Sept. 29, 2006.

NASA's Jet Propulsion Laboratory, a division of the California Institute of Technology in Pasadena, manages the Mars Reconnaissance Orbiter for NASA's Science Mission Directorate, Washington. Lockheed Martin Space Systems, Denver, is the prime contractor for the project and built the spacecraft. The High Resolution Imaging Science Experiment is operated by the University of Arizona, Tucson, and the instrument was built by Ball Aerospace and Technology Corp., Boulder, Colo.

Demonstrating Robotic Autonomy in NASA's Intelligent Systems Project

NASA Technical Reports Server (NTRS)

Morris, Robert; Smith, Ben; Estlin, Tara; Pedersen, Liam

2004-01-01

This paper will provide an overview of NASA's investments in autonomy during the past five years within the Intelligent Systems Project, with particular attention paid to investments that have resulted in mission infusion of autonomy technology, in particular, into the recent Mars Exploration Rover (MER) mission. The content of the paper will be divided into two primary topic areas: a technical overview of the component technologies developed under the program, and a programmatic overview of the history and organization of the NASA IS project itself, with a focus on describing the program elements related to autonomy and intelligent robotics. The paper will also provide an overview of the September 2004 autonomy demonstrations, including a discussion of objectives, organization, and preliminary results (to the extent they are available before the submission deadline).

The elephant graveyard - A planet-wide Mars sample return

NASA Astrophysics Data System (ADS)

Heinsheimer, T. F.; Corn, Barbara

1991-10-01

A method is presented for collecting documented Martian samples from the surface of the entire planet based partly on research done for a 1994 Mars balloon mission. Smart balloons are employed to collect samples from difficult terrains, fly 100-200 km with the sample to more manageable terrains, and are retrieved by a rover mission for return to earth. Elements of the sample-return method are described in detail with attention given to the projected rates of success for each portion of the technology. The SNAKE, Canniballoon, and 'Brilliant Ants' concepts are described in terms of level of development, function within the mission, and technological requirements. Substantial research presently exists in the areas of deployment, on-site sample assessment, pick-up, and designs for the ballons and ground-traversing guideropes.

Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994

NASA Technical Reports Server (NTRS)

1994-01-01

The Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space (i-SAIRAS 94), held October 18-20, 1994, in Pasadena, California, was jointly sponsored by NASA, ESA, and Japan's National Space Development Agency, and was hosted by the Jet Propulsion Laboratory (JPL) of the California Institute of Technology. i-SAIRAS 94 featured presentations covering a variety of technical and programmatic topics, ranging from underlying basic technology to specific applications of artificial intelligence and robotics to space missions. i-SAIRAS 94 featured a special workshop on planning and scheduling and provided scientists, engineers, and managers with the opportunity to exchange theoretical ideas, practical results, and program plans in such areas as space mission control, space vehicle processing, data analysis, autonomous spacecraft, space robots and rovers, satellite servicing, and intelligent instruments.

Rover mast calibration, exact camera pointing, and camara handoff for visual target tracking

NASA Technical Reports Server (NTRS)

Kim, Won S.; Ansar, Adnan I.; Steele, Robert D.

2005-01-01

This paper presents three technical elements that we have developed to improve the accuracy of the visual target tracking for single-sol approach-and-instrument placement in future Mars rover missions. An accurate, straightforward method of rover mast calibration is achieved by using a total station, a camera calibration target, and four prism targets mounted on the rover. The method was applied to Rocky8 rover mast calibration and yielded a 1.1-pixel rms residual error. Camera pointing requires inverse kinematic solutions for mast pan and tilt angles such that the target image appears right at the center of the camera image. Two issues were raised. Mast camera frames are in general not parallel to the masthead base frame. Further, the optical axis of the camera model in general does not pass through the center of the image. Despite these issues, we managed to derive non-iterative closed-form exact solutions, which were verified with Matlab routines. Actual camera pointing experiments aver 50 random target image paints yielded less than 1.3-pixel rms pointing error. Finally, a purely geometric method for camera handoff using stereo views of the target has been developed. Experimental test runs show less than 2.5 pixels error on high-resolution Navcam for Pancam-to-Navcam handoff, and less than 4 pixels error on lower-resolution Hazcam for Navcam-to-Hazcam handoff.

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.

Exomars VisLoc- The Visual Localisation System for the Exomars Rover

NASA Astrophysics Data System (ADS)

Ward, R.; Hamilton, W.; Silva, N.; Pereira, V.

2016-08-01

Maintaining accurate knowledge of the current position of vehicles on the surface of Mars is a considerable problem. The lack of an orbital GPS means that the absolute position of a rover at any instant is very difficult to determine, and with that it is difficult to accurately and safely plan hazard avoidance manoeuvres.Some on-board methods of determining the evolving POSE of a rover are well known, such as using wheel odometry to keep a log of the distance travelled. However there are associated problems - wheels can slip in the martial soil providing odometry readings which can mislead navigation algorithms. One solution to this is to use a visual localisation system, which uses cameras to determine the actual rover motion from images of the terrain. By measuring movement from the terrain an independent measure of the actual movement can be obtained to a high degree of accuracy.This paper presents the progress of the project to develop a the Visual Localisation system for the ExoMars rover (VisLoc). The core algorithmm used in the system is known as OVO (Oxford Visual Odometry), developed at the Mobile Robotics Group at the University of Oxford. Over a number of projects this system has been adapted from its original purpose (navigation systems for autonomous vehicles) to be a viable system for the unique challenges associated with extra-terrestrial use.

Mars Sample Return mission: Two alternate scenarios

NASA Technical Reports Server (NTRS)

1991-01-01

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

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.

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.

Overview of Energy Storage Technologies for Space Applications

NASA Technical Reports Server (NTRS)

Surampudi, Subbarao

2006-01-01

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

Conceptualizing Geosexual Archetypes: Mapping the Sexual Travels and Egocentric Sexual Networks of Gay and Bisexual Men in Toronto, Canada

PubMed Central

Gesink, Dionne; Wang, Susan; Guimond, Tim; Kimura, Lauren; Connell, James; Salway, Travis; Gilbert, Mark; Mishra, Sharmistha; Tan, Darrell; Burchell, Ann N.; Brennan, David J.; Logie, Carmen H.; Grace, Daniel

2018-01-01

Background There are complex, synergistic, and persistent sexually transmitted infection (STI) epidemics affecting gay, bisexual and other men who have sex with men (gbMSM) in every major urban centre across North America. We explored the spatial architecture of egocentric sexual networks for gbMSM in Toronto, Canada. Methods Our integrative mixed methods study included in-depth interviews with 31 gbMSM between May and July 2016. During interviews, participants mapped their egocentric sexual network for the preceding 3 months geographically. At the end, a self-administered survey was used to collect sociodemographic characteristics, online technology use, and STI testing and history. Results We identified 6 geosexual archetypes: hosters, house-callers, privates, rovers, travellers, and geoflexibles. Hosters always, or almost always (≥80%), hosted sex at their home. House-callers always, or almost always (≥80%), had sex at their partner’s home. Rovers always or almost always (≥80%) had sex at public venues (eg, bath houses, sex clubs) and other public spaces (eg, parks, cruising sites). Privates had sex in private—their own home or their partner's (part hoster, part house-caller). Travellers had sex away from their home, either at a partner’s home or some other venue or public space (part house-caller, part rover). Geoflexibles had sex in a variety of locations—their home, their partner’s home, or public venues. All hosters and rovers, and to a lesser extent, geoflexibles, reported a history of syphilis and human immunodeficiency virus. Conclusions Prioritizing interventions to hosters, rovers, and geoflexibles may have an important impact on reducing STI transmission. PMID:29465690

Development of a Rover Simulation to Assess Operational Proficiency Following Long Duration Spaceflights

NASA Technical Reports Server (NTRS)

DeDios, Y. E.; Dean, S. L.; Rpsemtja (. K/); < acdpig (as/ J/ G/); Moore, S. T.; Wood, S. J.

2011-01-01

Following long-duration space transits, adaptive changes in sensorimotor and cognitive function may impair the crew s ability to safely control pressurized rovers designed to explore the new environment. We describe a rover simulation developed to quantify post-flight decrements in operational proficiency following International Space Station expeditions. The rover simulation consists of a serial presentation of discrete tasks to be completed as quickly and accurately as possible. Each task consists of 1) perspective taking using a map that defines a docking target, 2) navigation toward the target around a Martian outpost, and 3) docking a side hatch of the rover to a visually guided target. The simulator utilizes a Stewart-type motion base (CKAS, Australia), single seat cabin with triple scene projection covering approximately 150 horizontal by 40 vertical, and joystick controller. The software was implemented using Unity3 with next-gen PhysX engine to tightly synchronize simulation and motion platform commands. Separate C# applications allow investigators to customize session sequences with different lighting and gravitational conditions, and then execute tasks to be performed as well as record performance data. Preliminary tests resulted in low incidence of motion sickness (<15% unable to complete first session), with only negligible after effects and symptoms after familiarization sessions. Functionally relevant testing early post-flight will develop evidence regarding the limitations to early surface operations and what countermeasures are needed. This approach can be easily adapted to other vehicle designs to provide a platform to safely assess how sensorimotor and cognitive function impact manual control performance.

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.

Final Results for the GRC Supporting Technology Development Project for the 110-Watt Stirling Radioisotope Generator (SRG110)

NASA Technical Reports Server (NTRS)

Schreiber, Jeffrey G.; Thieme, Lanny G.

2007-01-01

From 1999 to 2006, the NASA Glenn Research Center (GRC) supported the development of a high-efficiency, nominal 110-We Stirling Radioisotope Generator (SRG110) for potential use on NASA missions, including deep space missions, Mars rovers, and lunar applications. Lockheed Martin (LM) was the system integrator for the SRG110, under contract to the Department of Energy (DOE). Infinia Corporation (formerly Stirling Technology Company) developed the Stirling convertor, first as a contractor to DOE and then under subcontract to LM. The SRG110 development has been redirected, and recent program changes have been made to significantly increase the specific power of the generator. System development of an Advanced Stirling Radioisotope Generator (ASRG) has now begun, using a lightweight, advanced convertor from Sunpower, Inc. This paper summarizes the results of the supporting technology effort that GRC completed for the SRG110. GRC tasks included convertor extended-duration testing in air and thermal vacuum environments, heater head life assessment, materials studies, permanent magnet aging characterization, linear alternator evaluations, structural dynamics testing, electromagnetic interference (EMI) and electromagnetic compatibility (EMC) characterization, organic materials evaluations, reliability studies, and development of an end-to-end system dynamic model. Related efforts are now continuing in many of these areas to support ASRG development.

Final Results for the GRC Supporting Technology Development Project for the 110-Watt Stirling Radioisotope Generator (SRG110)

NASA Technical Reports Server (NTRS)

Schreiber, Jeffrey G.; Thieme, Lanny G.

2007-01-01

From 1999-2006, the NASA Glenn Research Center (GRC) supported the development of a high-efficiency, nominal 110-We Stirling Radioisotope Generator (SRG110) for potential use on NASA missions, including deep space missions, Mars rovers, and lunar applications. Lockheed Martin (LM) was the system integrator for the SRG110, under contract to the Department of Energy (DOE). Infinia Corporation (formerly Stirling Technology Company) developed the Stirling convertor, first as a contractor to DOE and then under subcontract to LM. The SRG110 development has been redirected, and recent program changes have been made to significantly increase the specific power of the generator. System development of an Advanced Stirling Radioisotope Generator (ASRG) has now begun, using a lightweight, advanced convertor from Sunpower, Inc. This paper summarizes the results of the supporting technology effort that GRC completed for the SRG110. GRC tasks included convertor extended-duration testing in air and thermal vacuum environments, heater head life assessment, materials studies, permanent magnet aging characterization, linear alternator evaluations, structural dynamics testing, electromagnetic interference (EMI) and electromagnetic compatibility (EMC) characterization, organic materials evaluations, reliability studies, and development of an end-to-end system dynamic model. Related efforts are now continuing in many of these areas to support ASRG development.

Rover Track in Sand Sheet Near Martian Sand Dune

NASA Image and Video Library

2015-12-10

The rippled surface of the first Martian sand dune ever studied up close fills this view of "High Dune" from the Mast Camera (Mastcam) on NASA's Curiosity rover. This site is part of the "Bagnold Dunes" field along the northwestern flank of Mount Sharp. The dunes are active, migrating up to about one yard or meter per year. The component images of this mosaic view were taken on Nov. 27, 2015, during the 1,176th Martian day, or sol, of Curiosity's work on Mars. The scene is presented with a color adjustment that approximates white balancing, to resemble how the sand would appear under daytime lighting conditions on Earth. The annotated version includes superimposed scale bars of 30 centimeters (1 foot) in the foreground and 100 centimeters (3.3 feet) in the middle distance. Malin Space Science Systems, San Diego, built and operates Curiosity's Mastcam. NASA's Jet Propulsion Laboratory, a division of the California Institute of Technology, Pasadena, built the rover and manages the project for NASA's Science Mission Directorate, Washington. http://photojournal.jpl.nasa.gov/catalog/PIA20169

Spirit rover localization and topographic mapping at the landing site of Gusev crater, Mars

USGS Publications Warehouse

Li, R.; Archinal, B.A.; Arvidson, R. E.; Bell, J.; Christensen, P.; Crumpler, L.; Des Marais, D.J.; Di, K.; Duxbury, T.; Golombek, M.P.; Grant, J. A.; Greeley, R.; Guinn, J.; Johnson, Aaron H.; Kirk, R.L.; Maimone, M.; Matthies, L.H.; Malin, M.; Parker, T.; Sims, M.; Thompson, S.; Squyres, S. W.; Soderblom, L.A.

2006-01-01

By sol 440, the Spirit rover has traversed a distance of 3.76 km (actual distance traveled instead of odometry). Localization of the lander and the rover along the traverse has been successfully performed at the Gusev crater landing site. We localized the lander in the Gusev crater using two-way Doppler radio positioning and cartographic triangulations through landmarks visible in both orbital and ground images. Additional high-resolution orbital images were used to verify the determined lander position. Visual odometry and bundle adjustment technologies were applied to compensate for wheel slippage, azimuthal angle drift, and other navigation errors (which were as large as 10.5% in the Husband Hill area). We generated topographic products, including 72 ortho maps and three-dimensional (3-D) digital terrain models, 11 horizontal and vertical traverse profiles, and one 3-D crater model (up to sol 440). Also discussed in this paper are uses of the data for science operations planning, geological traverse surveys, surveys of wind-related features, and other science applications. Copyright 2006 by the American Geophysical Union.

Planning For Multiple NASA Missions With Use Of Enabling Radioisotope Power

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

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

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

Promoting Real-Time Science in the Classroom using Wireless PDA Technology

NASA Technical Reports Server (NTRS)

Matusow, David; Sparmo, Joe; Weidow, Dave; Obenschain, Arthur F. (Technical Monitor)

2002-01-01

The year is 2004, NASA has landed and deployed a fleet of rovers on the surface of Mars to continue the exploration of that planet and prepare the way for human visitors. Middle school students at Milton Elementary have been following the mission through the media and Internet as part of Mr. Johnson's Earth and space sciences class. The kids have been working in teams to track the rovers as they move across the surface of Mars on a scale model of the landing site they built from sand and rocks using pictures and video downloaded from the Internet. They also built their own version of a rover that can be driven around the model. The time is 3:36pm. Jim and a couple of his fellow students from class are sitting in the cafeteria waiting for a student council meeting to begin. Mary and several others are on the bus riding home. Kathy is in her father's car waiting to leave the parking lot. On Mars, Rover-3 has just stopped and issued an alert to ground control at NASA's Jet Propulsion Laboratory (JPL). Back at Milton Elementary chimes can be heard going off in the cafeteria, on the school bus, and in Kathy's car. The students are familiar with the drill and each brings up the Mars mission status display on their hand-held PDA device. They've been using their PDAs (those Palm devices that seem to be everywhere today) to obtain real-time position information for each of the rovers throughout the mission. The mission status display tells them that Rover-3 has stopped on the edge of a small gully and isn't quite sure what to do. The students begin considering the options amongst themselves. Should the rover just drive through the gully? If it does, what happens if it gets stuck? Maybe it should turnaround and look for away around the gully? Trough questions. Real questions. Real problems. The students know they will need to be prepared to discuss the options and conduct their own simulations using the models they built in Mr. Johnson's class tomorrow. Much the same way engineers and scientists will be working to solve the problem at NASA. It's a couple of days later, NASA has made a decision on what to do and has issued new commands for Rover-3 to execute at 9:15am Milton Elementary time. Interestingly, NASA's solution to the problem differs from the one favored by the students. 9:16am, chimes can be heard going off throughout Milton Elementary.

Spacecraft Thermal Management using Advanced Hybrid Two-Phase Loop Technology

DTIC Science & Technology

2007-02-01

Estes and Mudawar , 1995]. The successful implementation of mechanical pumps used in the heat rejection system of the NASA’s Mars Exploration Rover...Proceedings of 1st International Conference on Microchannels and Minichannels, Rochester, New York, April 24~25, 2003. Estes, K. and Mudawar , I

Science Instruments on NASA Mars 2020 Rover

NASA Image and Video Library

2015-06-10

This 2015 diagram shows components of the investigations payload for NASA's Mars 2020 rover mission. Mars 2020 will re-use the basic engineering of NASA's Mars Science Laboratory to send a different rover to Mars, with new objectives and instruments, launching in 2020. The rover will carry seven instruments to conduct its science and exploration technology investigations. They are: Mastcam-Z, an advanced camera system with panoramic and stereoscopic imaging capability and the ability to zoom. The instrument also will determine mineralogy of the Martian surface and assist with rover operations. The principal investigator is James Bell, Arizona State University in Tempe. SuperCam, an instrument that can provide imaging, chemical composition analysis, and mineralogy. The instrument will also be able to detect the presence of organic compounds in rocks and regolith from a distance. The principal investigator is Roger Wiens, Los Alamos National Laboratory, Los Alamos, New Mexico. This instrument also has a significant contribution from the Centre National d'Etudes Spatiales, Institut de Recherche en Astrophysique et Planétologie (CNES/IRAP) France. Planetary Instrument for X-ray Lithochemistry (PIXL), an X-ray fluorescence spectrometer that will also contain an imager with high resolution to determine the fine-scale elemental composition of Martian surface materials. PIXL will provide capabilities that permit more detailed detection and analysis of chemical elements than ever before. The principal investigator is Abigail Allwood, NASA's Jet Propulsion Laboratory, Pasadena, California. Scanning Habitable Environments with Raman & Luminescence for Organics and Chemicals (SHERLOC), a spectrometer that will provide fine-scale imaging and uses an ultraviolet (UV) laser to determine fine-scale mineralogy and detect organic compounds. SHERLOC will be the first UV Raman spectrometer to fly to the surface of Mars and will provide complementary measurements with other instruments in the payload. SHERLOC includes a high-resolution color camera for microscopic imaging of Mars' surface. The principal investigator is Luther Beegle, JPL. The Mars Oxygen ISRU Experiment (MOXIE), an exploration technology investigation that will produce oxygen from Martian atmospheric carbon dioxide. The principal investigator is Michael Hecht, Massachusetts Institute of Technology, Cambridge, Massachusetts. Mars Environmental Dynamics Analyzer (MEDA), a set of sensors that will provide measurements of temperature, wind speed and direction, pressure, relative humidity and dust size and shape. The principal investigator is Jose Rodriguez-Manfredi, Centro de Astrobiologia, Instituto Nacional de Tecnica Aeroespacial, Spain. The Radar Imager for Mars' Subsurface Experiment (RIMFAX), a ground-penetrating radar that will provide centimeter-scale resolution of the geologic structure of the subsurface. The principal investigator is Svein-Erik Hamran, the Norwegian Defence Research Establishment, Norway. http://photojournal.jpl.nasa.gov/catalog/PIA19672

Lunar science strategy: Exploring the Moon with humans and machines

NASA Technical Reports Server (NTRS)

Morrison, Donald A.; Hoffman, Stephen J.

1993-01-01

Important scientific questions that can be addressed from the lunar surface are reviewed for a number of scientific disciplines. A successful strategy for human exploration of the Moon is outlined. It consists of several elements: thorough preparation; a means of extending the human reach; measurement of the mobility of both human and robotic components; and flexible technologies so as to be able to take the most effective path as successive decision points occur. Part of thorough preparation involves concurrent development of a set of science goals and objectives as well as a supporting information base; neither can evolve independently of the other. This matched set will drive the definition of missions and technologies used to satisfy the requirements of various science disciplines. No single site on the Moon will satisfy all requirements. Thus, global accessibility is a goal of the current Lunar and Mars Exploration Program science strategy. Human mobility on the surface is limited to a few kilometers without the use of vehicles. Unpressurized crew carrying rovers could take explorers to distances tens of kilometers from an outpost; the distance is primarily limited by health and safety concerns. Pressurized rovers could extend the range to hundreds of kilometers, but size, mass, and costs limit such vehicles to missions beyond current planning horizons. The establishment of several outposts instead of one would provide opportunities for effective use of the unique capabilities of humans. Extending the human reach to global dimensions may be accomplished through teleoperation or telepresence. The most effective mix of these techniques is a decision that will evolve as experience is gained on the surface. Planning and technology must be flexible enough to allow a variety of options to be selected.

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.

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

NASA Technical Reports Server (NTRS)

1987-01-01

The accomplishments of the Utah State University (USU) Mars Lander/Rover (MLR) design class during the Winter Quarter are delineated and explained. Environment and trajectory, ground systems, balloon system, and payload system are described. Results from this effort will provide a valid and useful basis for further studies of Mars exploratory vehicles.

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.

Activity Planning for the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

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

2004-01-01

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

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

NASA Technical Reports Server (NTRS)

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

2004-01-01

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

Results from Automated Cloud and Dust Devil Detection Onboard the MER

NASA Technical Reports Server (NTRS)

Chien, Steve; Castano, Rebecca; Bornstein, Benjamin; Fukunaga, Alex; Castano, Andres; Biesiadecki, Jeffrey; Greeley, Ron; Whelley, Patrick; Lemmon, Mark

2008-01-01

We describe a new capability to automatically detect dust devils and clouds in imagery onboard rovers, enabling downlink of just the images with the targets or only portions of the images containing the targets. Previously, the MER rovers conducted campaigns to image dust devils and clouds by commanding a set of images be collected at fixed times and downloading the entire image set. By increasing the efficiency of the campaigns, more campaigns can be executed. Software for these new capabilities was developed, tested, integrated, uploaded, and operationally checked out on both rovers as part of the R9.2 software upgrade. In April 2007 on Sol 1147 a dust devil was automatically detected onboard the Spirit rover for the first time. We discuss the operational usage of the capability and present initial dust devil results showing how this preliminary application has demonstrated the feasibility and potential benefits of the approach.

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.

LANL Researcher Roger Wiens Discusses ChemCam

ScienceCinema

Wiens, Roger

2018-01-16

Discussion of the ChemCam instrument on the Curiosity Rover that occurred during the NASA press conference prior to launch of the Mars Science Laboratory. The ChemCam instrument was developed by Los Alamos National Laboratory and the French Space Institute. Los Alamos National Laboratory researcher Roger Wiens discusses the instrument on this video. ChemCam uses a laser to "zap" features of the Martian landscape and then uses a spectrometer to gather information about the composition of the sample. ChemCam will help the Curiosity Rover determine whether Mars is or was habitable. The Rover is expected to touch down on the Red Planet on August 5, 2012.

Space Science

NASA Image and Video Library

1996-12-04

The Mars Pathfinder began the journey to Mars with liftoff atop a Delta II expendable launch vehicle from launch Complex 17B on Cape Canaveral Air Station. The Mars Pathfinder traveled on a direct trajectory to Mars, and arrived there in July 1997. Mars Pathfinder sent a lander and small robotic rover, Sojourner, to the surface of Mars. The primary objective of the mission was to demonstrate a low-cost way of delivering a science package to the surface of Mars using a direct entry, descent and landing with the aid of small rocket engines, a parachute, airbags and other techniques. In addition, landers and rovers of the future will share the heritage of Mars Pathfinder designs and technologies first tested in this mission. Pathfinder also collected invaluable data about the Martian surface.

Electrolytes with Improved Safety Characteristics for High Voltage, High Specific Energy Li-ion Cells

NASA Technical Reports Server (NTRS)

Smart, M. C.; Krause, F. C.; Hwang, C.; West, W. C.; Soler, J.; Whitcanack, L. W.; Prakash, G. K. S.; Ratnakumar, B. V.

2012-01-01

(1) NASA is actively pursuing the development of advanced electrochemical energy storage and conversion devices for future lunar and Mars missions; (2) The Exploration Technology Development Program, Energy Storage Project is sponsoring the development of advanced Li-ion batteries and PEM fuel cell and regenerative fuel cell systems for the Altair Lunar Lander, Extravehicular Activities (EVA), and rovers and as the primary energy storage system for Lunar Surface Systems; (3) At JPL, in collaboration with NASA-GRC, NASA-JSC and industry, we are actively developing advanced Li-ion batteries with improved specific energy, energy density and safety. One effort is focused upon developing Li-ion battery electrolyte with enhanced safety characteristics (i.e., low flammability); and (4) A number of commercial applications also require Li-ion batteries with enhanced safety, especially for automotive applications.

The Evaluation of Triphenyl Phosphate as a Flame Retardant Additive to Improve the Safety of Lithium-Ion Battery Electrolytes

NASA Technical Reports Server (NTRS)

Smart, M. C.; Krause, F. C.; Hwang, C.; Westa, W. C.; Soler, J.; Prakash, G. K. S.; Ratnakumar, B. V.

2011-01-01

NASA is actively pursuing the development of advanced electrochemical energy storage and conversion devices for future lunar and Mars missions. The Exploration Technology Development Program, Energy Storage Project is sponsoring the development of advanced Li-ion batteries and PEM fuel cell and regenerative fuel cell systems for the Altair Lunar Lander, Extravehicular Activities (EVA), and rovers and as the primary energy storage system for Lunar Surface Systems. At JPL, in collaboration with NASA-GRC, NASA-JSC and industry, we are actively developing advanced Li-ion batteries with improved specific energy, energy density and safety. One effort is focused upon developing Li-ion battery electrolyte with enhanced safety characteristics (i.e., low flammability). A number of commercial applications also require Li-ion batteries with enhanced safety, especially for automotive applications.

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.

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.

Enhancing Lunar Exploration with a Radioisotope Powered Dual Mode Lunar Rover

NASA Astrophysics Data System (ADS)

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

2005-12-01

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

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.

UNITE 3D Rover Summer Workshop: An Overview and Assessment

ERIC Educational Resources Information Center

Hsiung, Steve C.; Deal, Walter F.; Tuluri, Francis

2017-01-01

UNITE is a program sponsored by the Army Educational Outreach Program (AEOP, 2015). The STEM Enrichment Activities of AEOP are designed to spark student interest in science, technology, engineering, and mathematics, especially among the underserved and those in earlier grades and educators by providing exciting, engaging, interactive, hands-on…

Mechanical design of the Mars Pathfinder mission

NASA Technical Reports Server (NTRS)

Eisen, Howard Jay; Buck, Carl W.; Gillis-Smith, Greg R.; Umland, Jeffrey W.

1997-01-01

The Mars Pathfinder mission and the Sojourner rover is reported on, with emphasis on the various mission steps and the performance of the technologies involved. The mechanical design of mission hardware was critical to the success of the entry sequence and the landing operations. The various mechanisms employed are considered.

Space radiation protection: Human support thrust exploration technology program

NASA Technical Reports Server (NTRS)

Conway, Edmund J.

1991-01-01

Viewgraphs on space radiation protection are presented. For crew and practical missions, exploration requires effective, low-mass shielding and accurate estimates of space radiation exposure for lunar and Mars habitat shielding, manned space transfer vehicle, and strategies for minimizing exposure during extravehicular activity (EVA) and rover operations.

Technologies for Low Frequency Radio Observations of the Cosmic Dawn

NASA Technical Reports Server (NTRS)

Jones, Dayton L.

2014-01-01

The Jet Propulsion Laboratory (JPL) is developing concepts and technologies for low frequency radio astronomy space missions aimed at observing highly redshifted neutral Hydrogen from the Dark Ages. This is the period of cosmic history between the recombination epoch when the microwave background radiation was produced and the re-ionization of the intergalactic medium by the first generation of stars (Cosmic Dawn). This period, at redshifts greater than about 20, is a critical epoch for the formation and evolution of large-scale structure in the universe. The 21-cm spectral line of Hydrogen provides the most promising method for directly studying the Dark Ages, but the corresponding frequencies at such large redshifts are only tens of MHz and thus require space-based observations to avoid terrestrial RFI and ionospheric absorption and refraction. This paper reports on the status of several low frequency technology development activities at JPL, including deployable bi-conical dipoles for a planned lunar-orbiting mission, and both rover-deployed and inflation-deployed long dipole antennas for use on the lunar surface.

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.

NASA Mars rover: a testbed for evaluating applications of covariance intersection

NASA Astrophysics Data System (ADS)

Uhlmann, Jeffrey K.; Julier, Simon J.; Kamgar-Parsi, Behzad; Lanzagorta, Marco O.; Shyu, Haw-Jye S.

1999-07-01

The Naval Research Laboratory (NRL) has spearheaded the development and application of Covariance Intersection (CI) for a variety of decentralized data fusion problems. Such problems include distributed control, onboard sensor fusion, and dynamic map building and localization. In this paper we describe NRL's development of a CI-based navigation system for the NASA Mars rover that stresses almost all aspects of decentralized data fusion. We also describe how this project relates to NRL's augmented reality, advanced visualization, and REBOT projects.

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.

Mars Rover/Sample Return - Phase A cost estimation

NASA Technical Reports Server (NTRS)

Stancati, Michael L.; Spadoni, Daniel J.

1990-01-01

This paper presents a preliminary cost estimate for the design and development of the Mars Rover/Sample Return (MRSR) mission. The estimate was generated using a modeling tool specifically built to provide useful cost estimates from design parameters of the type and fidelity usually available during early phases of mission design. The model approach and its application to MRSR are described.

ChemCam Rock Laser for the Mars Science Laboratory

ScienceCinema

LANL

2017-12-09

Los Alamos has a long history of space-related instr... Los Alamos has a long history of space-related instruments, tied primarily to its role in defense-related treaty verification. Space-based detectors have helped determine the differences between signals from lightning bolts and potential nuclear explosions. LANL-developed gamma-ray detection instruments first revealed the existence of what we now know as gamma-ray bursts, an exciting area of astrophysical research. And the use of LANL instruments on varied space missions continues with such products as the ChemCam rock laser for NASA, shown here. The Engineering Model of the ChemCam Mars Science Laboratory rover instrument arrived at NASA's Jet Propulsion Laboratory on February 6, 2008. ChemCam will use imaging and laser-induced breakdown spectroscopy (LIBS) to determine rock and soil compositions on Mars, up to 9 meters from the rover. The engineering model is being integrated into the rover test bed for the development and testing of the rover software. The actual flight model components are concurrently being assembled at Los Alamos and in Toulouse, France, and will be delivered to JPL in July. The Mars Science Laboratory is scheduled to launch in 2009. Animations courtesy of JPL/NASA.

KSC-2014-2988

NASA Image and Video Library

2014-06-23

CAPE CANAVERAL, Fla. -- At the Kennedy Space Center in Florida, University of Colorado Boulder graduate students Heather Hava, far left, and Daniel Zukowski, second from the left, describe a computerized SmartPot, or SPOT, which could be used to grow plants in a deep-space habitat. The SPOTs could be tended by a Remotely Operated Gardening Rover, or ROGR, seen on the left. The system is being developed by the graduate students participating in the eXploration HABitat X-Hab Academic Innovation Challenge. From the left are Hava, Zukowski, Gioia Massa of the NASA International Space Station Ground Processing and Research Project Office, Tracy Gill of the NASA Center Planning and Development Directorate, Morgan Simpson of the NASA Ground Processing Directorate, and Ray Wheeler of the NASA Engineering and Technology Directorate. X-Hab Academic Innovation Challenge is a university-level activity designed to engage and retain students in science, technology, engineering and math, or STEM, disciplines. NASA will directly benefit from the effort by sponsoring the development of innovative habitat concepts from universities which may result in innovative ideas and solutions that could be applied to exploration habitats. For more: http://www.nasa.gov/exploration/technology/deep_space_habitat/xhab/ Photo credit: NASA/Daniel Casper

KSC-2014-2989

NASA Image and Video Library

2014-06-23

CAPE CANAVERAL, Fla. -- At the Kennedy Space Center in Florida, University of Colorado Boulder graduate students Heather Hava, far left, and Daniel Zukowski, second from the left, pose with a computerized SmartPot, or SPOT, which could be used to grow plants in a deep-space habitat. To the right of the SPOT is a Remotely Operated Gardening Rover, or ROGR. The system is being developed by the graduate students participating in the eXploration HABitat X-Hab Academic Innovation Challenge. From the left are Zukowski, Hava, Gioia Massa of the NASA International Space Station Ground Processing and Research Project Office, Tracy Gill of the NASA Center Planning and Development Directorate, Morgan Simpson of the NASA Ground Processing Directorate, and Ray Wheeler of the NASA Engineering and Technology Directorate. X-Hab Academic Innovation Challenge is a university-level activity designed to engage and retain students in science, technology, engineering and math, or STEM, disciplines. NASA will directly benefit from the effort by sponsoring the development of innovative habitat concepts from universities which may result in innovative ideas and solutions that could be applied to exploration habitats. For more: http://www.nasa.gov/exploration/technology/deep_space_habitat/xhab/ Photo credit: NASA/Daniel Casper

Review of Rover fuel element protective coating development at Los Alamos

NASA Technical Reports Server (NTRS)

Wallace, Terry C.

1991-01-01

The Los Alamos Scientific Laboratory (LASL) entered the nuclear propulsion field in 1955 and began work on all aspects of a nuclear propulsion program with a target exhaust temperature of about 2750 K. A very extensive chemical vapor deposition coating technology for preventing catastrophic corrosion of reactor core components by the high temperature, high pressure hydrogen propellant gas was developed. Over the 17-year term of the program, more than 50,000 fuel elements were coated and evaluated. Advances in performance were achieved only through closely coupled interaction between the developing fuel element fabrication and protective coating technologies. The endurance of fuel elements in high temperature, high pressure hydrogen environment increased from several minutes at 2000 K exit gas temperature to 2 hours at 2440 K exit gas temperature in a reactor test and 10 hours at 2350 K exit gas temperature in a hot gas test. The purpose of this paper is to highlight the rationale for selection of coating materials used (NbC and ZrC), identify critical fuel element-coat interactions that had to be modified to increase system performance, and review the evolution of protective coating technology.

Development of a Lunar Consumables Storage and Distribution Depot

NASA Technical Reports Server (NTRS)

Mueller, Robert P.; Notardonato, William

2004-01-01

NASA is in the preliminary planning stages for a future lunar base as a response to President George W. Bush's recent announcement of a new sustained exploration program beyond low earth orbit. Kennedy Space Center engineers are supporting this program by utilizing experience in Spaceport system design and operations to help develop a Lunar Consumables Depot. This depot will store propellants, life support fluids, and other consumables either transported from Earth or manufactured from In Situ resources. The depot will distribute these consumables in an energy efficient manner to end users including spacecraft, habitation modules, and rovers. This paper addresses some of the changes to lunar base architecture design as a result of advances in knowledge of lunar resources over the past 35 years, as well as technology advances in the area of In Situ Resource Utilization and consumable storage and distribution. A general system level description of the depot will be presented, including overall design philosophy and high level requirements. Finally, specific subsystem technologies that have been or will be developed by KSC will be addressed. Examples of these technologies are automated umbilicals, cryogenic refrigerators, novel storage vessels, advanced heat switches and heat exchangers, and self healing gaskets and wires.

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

NASA Technical Reports Server (NTRS)

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

2012-01-01

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

Geoscience and a Lunar Base: A Comprehensive Plan for Lunar Exploration

NASA Technical Reports Server (NTRS)

Taylor, G. Jeffrey (Editor); Spudis, Paul D. (Editor)

1990-01-01

This document represents the proceedings of the Workshop on Geoscience from a Lunar Base. It describes a comprehensive plan for the geologic exploration of the Moon. The document begins by explaining the scientific importance of studying the Moon and outlines the many unsolved problems in lunar science. Subsequent chapters detail different, complementary approaches to geologic studies: global surveys, including orbiting spacecraft such as Lunar Observer and installation of a global geophysical network; reconnaissance sample return mission, by either automated rovers or landers, or by piloted forays; detailed field studies, which involve astronauts and teleoperated robotic field geologists. The document then develops a flexible scenario for exploration and sketches the technological developments needed to carry out the exploration scenario.

Automated space vehicle control for rendezvous proximity operations

NASA Technical Reports Server (NTRS)

Lea, Robert N.

1988-01-01

Rendezvous during the unmanned space exploration missions, such as a Mars Rover/Sample Return will require a completely automatic system from liftoff to docking. A conceptual design of an automated rendezvous, proximity operations, and docking system is being implemented and validated at the Johnson Space Center (JSC). The emphasis is on the progress of the development and testing of a prototype system for control of the rendezvous vehicle during proximity operations that is currently being developed at JSC. Fuzzy sets are used to model the human capability of common sense reasoning in decision making tasks and such models are integrated with the expert systems and engineering control system technology to create a system that performs comparably to a manned system.

Automated space vehicle control for rendezvous proximity operations

NASA Technical Reports Server (NTRS)

Lea, Robert N.

1988-01-01

Rendezvous during the unmanned space exploration missions, such as a Mars Rover/Sample Return will require a completely automatic system from liftoff to docking. A conceptual design of an automated rendezvous, proximity operations, and docking system is being implemented and validated at the Johnson Space Center (JSC). The emphasis is on the progress of the development and testing of a prototype system for control of the rendezvous vehicle during proximity operations that is currently being developed at JSC. Fuzzy sets are used to model the human capability of common sense reasoning in decision-making tasks and such models are integrated with the expert systems and engineering control system technology to create a system that performs comparably to a manned system.

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

NASA Technical Reports Server (NTRS)

Stambaugh, Imelda; Sankaran, Subra

2010-01-01

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

Assessment of Spatial Navigation and Docking Performance During Simulated Rover Tasks

NASA Technical Reports Server (NTRS)

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

2010-01-01

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

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

NASA Technical Reports Server (NTRS)

Nesnas, Issa A.; Pivtoraiko, Mihail N.; Kelly, Alonzo; Fleder, Michael

2012-01-01

This software controls a rover platform to traverse rocky terrain autonomously, plan paths, and avoid obstacles using its stereo hazard and navigation cameras. It does so while continuously tracking a target of interest selected from 10 20 m away. The rover drives and tracks the target until it reaches the vicinity of the target. The rover then positions itself to approach the target, deploys its robotic arm, and places the end effector instrument on the designated target to within 2-3-cm accuracy of the originally selected target. This software features continuous navigation in a fairly rocky field in an outdoor environment and the ability to enable the rover to avoid large rocks and traverse over smaller ones. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover s mast cameras. The navigation software uses stereo imaging, traversability analysis, path planning, trajectory generation, and trajectory execution. It also includes visual target tracking of a designated target selected from 10 m away while continuously navigating the rocky terrain. Improvements in this design include steering while driving, which uses continuous curvature paths. There are also several improvements to the traversability analyzer, including improved data fusion of traversability maps that result from pose estimation uncertainties, dealing with boundary effects to enable tighter maneuvers, and handling a wider range of obstacles. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight, thread-the-needle maneuvers. These algorithms were integrated on the newly refurbished Athena Mars research rover, and were fielded in the JPL Mars Yard. Forty-three runs were conducted with targets at distances ranging from 5 to 15 m, and a success rate of 93% was achieved for placement of the instrument within 2-3 cm of the target.

Pebbles, Cobbles, and Sockets

NASA Technical Reports Server (NTRS)

1997-01-01

This Rover image of 'Shark' (upper left center), 'Half Dome' (upper right), and a small rock (right foreground) reveal textures and structures not visible in lander camera images. These rocks are interpreted as conglomerates because their surfaces have rounded protrusions up to several centimeters in size. It is suggested that the protrusions are pebbles and granules.

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

Sojourner Rover View of Sockets and Pebbles

NASA Technical Reports Server (NTRS)

1997-01-01

Well-rounded objects, like the ones in this image, were not seen at the Viking sites. These are thought to be pebbles liberated from sedimentary rocks composed of cemented silts, sands and rounded fragments; such rocks are called conglomerates. The 'sockets' could be the former sites of such pebbles.

NOTE: original caption as published in Science Magazine

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

Wind Tails Near Chimp

NASA Technical Reports Server (NTRS)

1997-01-01

This image of the rock 'Chimp' was taken by the Sojourner rover's right front camera on Sol 72 (September 15). Fine-scale texture on Chimp and other rocks is clearly visible. Wind tails, oriented from lower right to upper left, are seen next to small pebbles in the foreground. These were most likely produced by wind action.

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

Stereo Images of Wind Tails Near Chimp

NASA Technical Reports Server (NTRS)

1997-01-01

This stereo image pair of the rock 'Chimp' was taken by the Sojourner rover's front cameras on Sol 72 (September 15). Fine-scale texture on Chimp and other rocks is clearly visible. Wind tails, oriented from lower right to upper left, are seen next to small pebbles in the foreground. These were most likely produced by wind action.

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

Nuclear power systems for lunar and Mars exploration

NASA Technical Reports Server (NTRS)

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

1990-01-01

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

Mars 2020 MOXIE Laboratory and Principal Investigator

NASA Image and Video Library

2016-07-15

One investigation on NASA's Mars 2020 rover will extract oxygen from the Martian atmosphere. It is called MOXIE, for Mars Oxygen In-Situ Resource Utilization Experiment. In this image, MOXIE Principal Investigator Michael Hecht, of the Massachusetts Institute of Technology, Cambridge, is in the MOXIE development laboratory at NASA's Jet Propulsion Laboratory, Pasadena, California. Mars' atmosphere is mostly carbon dioxide. Demonstration of the capability for extracting oxygen from it, under Martian environmental conditions, will be a pioneering step toward how humans on Mars will use the Red Planet's natural resources. Oxygen can be used in the rocket http://photojournal.jpl.nasa.gov/catalog/PIA20761

Lunar surface exploration using mobile robots

NASA Astrophysics Data System (ADS)

Nishida, Shin-Ichiro; Wakabayashi, Sachiko

2012-06-01

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

Mars Exploration Rovers as Virtual Instruments for Determination of Terrain Roughness and Physical Properties

NASA Technical Reports Server (NTRS)

Arvidson, R. E.; Lindemann, R.; Matijevic, J.; Richter, L.; Sullivan, R.; Haldemann, A.; Anderson, R.; Snider, N.

2003-01-01

The two 2003 Mars Exploration Rovers (MERs), in combination with the Athena Payload, will be used as virtual instrument systems to infer terrain properties during traverses, in addition to using the rover wheels to excavate trenches, exposing subsurface materials for remote and in-situ observations. The MERs are being modeled using finite element-based rover system transfer functions that utilize the distribution of masses associated with the vehicle, together with suspension and wheel dynamics, to infer surface roughness and mechanical properties from traverse time series data containing vehicle yaw, pitch, roll, encoder counts, and motor currents. These analyses will be supplemented with imaging and other Athena Payload measurements. The approach is being validated using Sojourner data, the FIDO rover, and experiments with MER testbed vehicles. In addition to conducting traverse science and associated analyses, trenches will be excavated by the MERs to depths of approximately 10-20 cm by locking all but one of the front wheels and rotating that wheel backwards so that the excavated material is piled up on the side of the trench away from the vehicle. Soil cohesion and angle of internal friction will be determined from the trench telemetry data. Emission spectroscopy and in-situ observations will be made using the Athena payload before and after imaging. Trenching and observational protocols have been developed using Sojourner results; data from the FIDO rover, including trenches dug into sand, mud cracks, and weakly indurated bedrock; and experiments with MER testbed rovers. Particular attention will be focused on Mini-TES measurements designed to determine the abundance and state of subsurface water (e.g. hydrated, in zeolites, residual pore ice?) predicted to be present from Odyssey GRS/NS/HEND data.

NASA GRC Stirling Technology Development Overview

NASA Technical Reports Server (NTRS)

Thieme, Lanny G.; Schreiber, Jeffrey G.

2003-01-01

The Department of Energy, Lockheed Martin (LM), Stirling Technology Company, and NASA Glenn Research Center (GRC) are developing a high-efficiency Stirling Radioisotope Generator (SRG) for potential NASA Space Science missions. The SRG is being developed for multimission use, including providing spacecraft onboard electric power for NASA deep space missions and power for unmanned Mars rovers. NASA GRC is conducting an in- house supporting technology project to assist in developing the Stirling convertor for space qualification and mission implementation. Preparations are underway for a thermalhacuum system demonstration and unattended operation during endurance testing of the 55-We Technology Demonstration Convertors. Heater head life assessment efforts continue, including verification of the heater head brazing and heat treatment schedules and evaluation of any potential regenerator oxidation. Long-term magnet aging tests are continuing to characterize any possible aging in the strength or demagnetization resistance of the permanent magnets used in the linear alternator. Testing of the magnet/lamination epoxy bond for performance and lifetime characteristics is now underway. These efforts are expected to provide key inputs as the system integrator, LM, begins system development of the SRG. GRC is also developing advanced technology for Stirling convertors. Cleveland State University (CSU) is progressing toward a multi-dimensional Stirling computational fluid dynamics code, capable of modeling complete convertors. Validation efforts at both CSU and the University of Minnesota are complementing the code development. New efforts have been started this year on a lightweight convertor, advanced controllers, high-temperature materials, and an end-to-end system dynamics model. Performance and mass improvement goals have been established for second- and third-generation Stirling radioisotope power systems.

LANL Researcher Roger Wiens Discusses ChemCam

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

Wiens, Roger

2012-02-15

Discussion of the ChemCam instrument on the Curiosity Rover that occurred during the NASA press conference prior to launch of the Mars Science Laboratory. The ChemCam instrument was developed by Los Alamos National Laboratory and the French Space Institute. Los Alamos National Laboratory researcher Roger Wiens discusses the instrument on this video. ChemCam uses a laser to "zap" features of the Martian landscape and then uses a spectrometer to gather information about the composition of the sample. ChemCam will help the Curiosity Rover determine whether Mars is or was habitable. The Rover is expected to touch down on the Redmore » Planet on August 5, 2012.« less

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.

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.

Flexible Rover Architecture for Science Instrument Integration and Testing

NASA Technical Reports Server (NTRS)

Bualat, Maria G.; Kobayashi, Linda; Lee, Susan Y.; Park, Eric

2006-01-01

At NASA Ames Research Center, the Intelligent Robotics Group (IRG) fields the K9 and K10 class rovers. Both use a mobile robot hardware architecture designed for extensibility and reconfigurability that allows for rapid changes in instrumentation and provides a high degree of modularity. Over the past ssveral years, we have worked with instrument developers at NASA centers, universities, and national laboratories to integrate or partially integrate their instruments onboard the K9 and K10 rovers. Early efforts required considerable interaction to work through integration issues such as power, data protocol and mechanical mounting. These interactions informed the design of our current avionics architecture, and have simplified more recent integration projects. In this paper, we will describe the IRG extensible avionics and software architecture and the effect it has had on our recent instrument integration efforts, including integration of four Mars Instrument Development Program devices.

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.

Sample Acquisition and Caching architecture for the Mars Sample Return mission

NASA Astrophysics Data System (ADS)

Zacny, K.; Chu, P.; Cohen, J.; Paulsen, G.; Craft, J.; Szwarc, T.

This paper presents a Mars Sample Return (MSR) Sample Acquisition and Caching (SAC) study developed for the three rover platforms: MER, MER+, and MSL. The study took into account 26 SAC requirements provided by the NASA Mars Exploration Program Office. For this SAC architecture, the reduction of mission risk was chosen by us as having greater priority than mass or volume. For this reason, we selected a “ One Bit per Core” approach. The enabling technology for this architecture is Honeybee Robotics' “ eccentric tubes” core breakoff approach. The breakoff approach allows the drill bits to be relatively small in diameter and in turn lightweight. Hence, the bits could be returned to Earth with the cores inside them with only a modest increase to the total returned mass, but a significant decrease in complexity. Having dedicated bits allows a reduction in the number of core transfer steps and actuators. It also alleviates the bit life problem, eliminates cross contamination, and aids in hermetic sealing. An added advantage is faster drilling time, lower power, lower energy, and lower Weight on Bit (which reduces Arm preload requirements). Drill bits are based on the BigTooth bit concept, which allows re-use of the same bit multiple times, if necessary. The proposed SAC consists of a 1) Rotary-Percussive Core Drill, 2) Bit Storage Carousel, 3) Cache, 4) Robotic Arm, and 5) Rock Abrasion and Brushing Bit (RABBit), which is deployed using the Drill. The system also includes PreView bits (for viewing of cores prior to caching) and Powder bits for acquisition of regolith or cuttings. The SAC total system mass is less than 22 kg for MER and MER+ size rovers and less than 32 kg for the MSL-size rover.

Communications Blackout Predictions for Atmospheric Entry of Mars Science Laboratory

NASA Technical Reports Server (NTRS)

Morabito, David D.; Edquist, Karl T.

2005-01-01

The Mars Science Laboratory (MSL) is expected to be a long-range, long-duration science laboratory rover on the Martian surface. MSL will provide a significant milestone that paves the way for future landed missions to Mars. NASA is studying options to launch MSL as early as 2009. There are three elements to the spacecraft; carrier (cruise stage), entry vehicle, and rover. The rover will have a UHF proximity link as the primary path for EDL communications and may have an X-band direct-to-Earth link as a back-up. Given the importance of collecting critical event telemetry data during atmospheric entry, it is important to understand the ability of a signal link to be maintained, especially during the period near peak convective heating. The received telemetry during entry (or played back later) will allow for the performance of the Entry-Descent-Landing technologies to be assessed. These technologies include guided entry for precision landing, a new sky-crane landing system and powered descent. MSL will undergo an entry profile that may result in a potential communications blackout caused by ionized particles for short periods near peak heating. The vehicle will use UHF and possibly X-band during the entry phase. The purpose of this rep0rt is to quantify or bound the likelihood of any such blackout at UHF frequencies (401 MHz) and X-band frequencies (8.4 GHz). Two entry trajectory scenarios were evaluated: a stressful entry trajectory to quantify an upper-bound for any possible blackout period, and a nominal trajectory to quantify likelihood of blackout for such cases.

FIDO prototype Mars rover field trials, Black Rock Summit, Nevada, as test of the ability of robotic mobility systems to conduct field science

NASA Astrophysics Data System (ADS)

Arvidson, R. E.; Squyres, S. W.; Baumgartner, E. T.; Schenker, P. S.; Niebur, C. S.; Larsen, K. W.; SeelosIV, F. P.; Snider, N. O.; Jolliff, B. L.

2002-08-01

The Field Integration Design and Operations (FIDO) prototype Mars rover was deployed and operated remotely for 2 weeks in May 2000 in the Black Rock Summit area of Nevada. The blind science operation trials were designed to evaluate the extent to which FIDO-class rovers can be used to conduct traverse science and collect samples. FIDO-based instruments included stereo cameras for navigation and imaging, an infrared point spectrometer, a color microscopic imager for characterization of rocks and soils, and a rock drill for core acquisition. Body-mounted ``belly'' cameras aided drill deployment, and front and rear hazard cameras enabled terrain hazard avoidance. Airborne Visible and Infrared Imaging Spectrometer (AVIRIS) data, a high spatial resolution IKONOS orbital image, and a suite of descent images were used to provide regional- and local-scale terrain and rock type information, from which hypotheses were developed for testing during operations. The rover visited three sites, traversed 30 m, and acquired 1.3 gigabytes of data. The relatively small traverse distance resulted from a geologically rich site in which materials identified on a regional scale from remote-sensing data could be identified on a local scale using rover-based data. Results demonstrate the synergy of mapping terrain from orbit and during descent using imaging and spectroscopy, followed by a rover mission to test inferences and to make discoveries that can be accomplished only with surface mobility systems.

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.

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.

KSC-2011-2273

NASA Image and Video Library

2011-03-11

ORLANDO, Fla. – NASA's Jet Propulsion Laboratory (JPL) in Pasadena, Calif., unveiled an inflatable, full-size model of the Mars Science Laboratory mission's Curiosity rover at the "For Inspiration and Recognition of Science and Technology," or FIRST, competition at the University of Central Florida in Orlando. The rover is scheduled to launch from Cape Canaveral Air Force Station in Florida aboard an Atlas V later this year. FIRST, founded in 1989, is a non-profit organization that designs accessible, innovative programs to build self-confidence, knowledge and life skills while motivating young people to pursue academic opportunities. The robotics competition challenges teams of high school students and their mentors to solve a common problem in a six-week timeframe using a standard kit of parts and a common set of rules. Photo credit: NASA/Glenn Benson

KSC-2011-2274

NASA Image and Video Library

2011-03-11

ORLANDO, Fla. – NASA's Jet Propulsion Laboratory (JPL) in Pasadena, Calif., unveiled an inflatable, full-size model of the Mars Science Laboratory mission's Curiosity rover at the "For Inspiration and Recognition of Science and Technology," or FIRST, competition at the University of Central Florida in Orlando. The rover is scheduled to launch from Cape Canaveral Air Force Station in Florida aboard an Atlas V later this year. FIRST, founded in 1989, is a non-profit organization that designs accessible, innovative programs to build self-confidence, knowledge and life skills while motivating young people to pursue academic opportunities. The robotics competition challenges teams of high school students and their mentors to solve a common problem in a six-week timeframe using a standard kit of parts and a common set of rules. Photo credit: NASA/Glenn Benson

KSC-2011-2276

NASA Image and Video Library

2011-03-11

ORLANDO, Fla. – NASA's Jet Propulsion Laboratory (JPL) in Pasadena, Calif., unveiled an inflatable, full-size model of the Mars Science Laboratory mission's Curiosity rover at the "For Inspiration and Recognition of Science and Technology," or FIRST, competition at the University of Central Florida in Orlando. The rover is scheduled to launch from Cape Canaveral Air Force Station in Florida aboard an Atlas V later this year. FIRST, founded in 1989, is a non-profit organization that designs accessible, innovative programs to build self-confidence, knowledge and life skills while motivating young people to pursue academic opportunities. The robotics competition challenges teams of high school students and their mentors to solve a common problem in a six-week timeframe using a standard kit of parts and a common set of rules. Photo credit: NASA/Glenn Benson

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

Tele-Operated Lunar Rover Navigation Using Lidar

NASA Technical Reports Server (NTRS)

Pedersen, Liam; Allan, Mark B.; Utz, Hans, Heinrich; Deans, Matthew C.; Bouyssounouse, Xavier; Choi, Yoonhyuk; Fluckiger, Lorenzo; Lee, Susan Y.; To, Vinh; Loh, Jonathan;

A Battery Health Monitoring Framework for Planetary Rovers

NASA Technical Reports Server (NTRS)

Daigle, Matthew J.; Kulkarni, Chetan Shrikant

2014-01-01

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

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

NASA Astrophysics Data System (ADS)

Setterfield, T.

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

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

NASA Astrophysics Data System (ADS)

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

2017-07-01

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

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.

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.

COBALT Flight Demonstrations Fuse Technologies

NASA Image and Video Library

2017-06-07

This 5-minute, 50-second video shows how the CoOperative Blending of Autonomous Landing Technologies (COBALT) system pairs new landing sensor technologies that promise to yield the highest precision navigation solution ever tested for NASA space landing applications. The technologies included a navigation doppler lidar (NDL), which provides ultra-precise velocity and line-of-sight range measurements, and the Lander Vision System (LVS), which provides terrain-relative navigation. Through flight campaigns conducted in March and April 2017 aboard Masten Space Systems' Xodiac, a rocket-powered vertical takeoff, vertical landing (VTVL) platform, the COBALT system was flight tested to collect sensor performance data for NDL and LVS and to check the integration and communication between COBALT and the rocket. The flight tests provided excellent performance data for both sensors, as well as valuable information on the integrated performance with the rocket that will be used for subsequent COBALT modifications prior to follow-on flight tests. Based at NASA’s Armstrong Flight Research Center in Edwards, CA, the Flight Opportunities program funds technology development flight tests on commercial suborbital space providers of which Masten is a vendor. The program has previously tested the LVS on the Masten rocket and validated the technology for the Mars 2020 rover.

UWB Technology and Applications on Space Exploration

NASA Technical Reports Server (NTRS)

Ngo, Phong; Phan, Chau; Gross, Julia; Dusl, John; Ni, Jianjun; Rafford, Melinda

2006-01-01

Ultra-wideband (UWB), also known as impulse or carrier-free radio technology, is one promising new technology. In February 2002, the Federal Communications Commission (FCC) approved the deployment of this technology. It is increasingly recognized that UWB technology holds great potential to provide significant benefits in many terrestrial and space applications such as precise positioning/tracking and high data rate mobile wireless communications. This talk presents an introduction to UWB technology and some applications on space exploration. UWB is characterized by several uniquely attractive features, such as low impact on other RF systems due to its extremely low power spectral densities, immunity to interference from narrow band RF systems due to its ultra-wide bandwidth, multipath immunity to fading due to ample multipath diversity, capable of precise positioning due to fine time resolution, capable of high data rate multi-channel performance. The related FCC regulations, IEEE standardization efforts and industry activities also will be addressed in this talk. For space applications, some projects currently under development at NASA Johnson Space Center will be introduced. These include the UWB integrated communication and tracking system for Lunar/Mars rover and astronauts, UWB-RFID ISS inventory tracking, and UWB-TDOA close-in high resolution tracking for potential applications on robonaut.

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

NASA Technical Reports Server (NTRS)

Arora-Williams, Keith

2012-01-01

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

Lightweight rovers for Mars science exploration and sample return

NASA Astrophysics Data System (ADS)

Schenker, Paul S.; Sword, Lee F.; Ganino, A. J.; Bickler, Donald B.; Hickey, G. S.; Brown, D. K.; Baumgartner, Eric T.; Matthies, Larry H.; Wilcox, Brian H.; Balch, T.; Aghazarian, H.; Garrett, M. S.

1997-09-01

We report on the development of new mobile robots for Mars exploration missions. These 'lightweight survivable rover (LSR)' systems are of potential interest to both space and terrestrial applications, and are distinguished from more conventional designs by their use of new composite materials, collapsible running gear, integrated thermal-structural chassis, and other mechanical features enabling improved mobility and environmental robustness at reduced mass, volume, and power. Our first demonstrated such rover architecture, LSR-1, introduces running gear based on 2D composite struts and 3D machined composite joints, a novel collapsible hybrid composite-aluminum wheel design, a unit-body structural- thermal chassis with improved internal temperature isolation and stabilization, and a spot-pushbroom laser/CCD sensor enabling accurate, fast hazard detection and terrain mapping. LSR-1 is an approximately .7 $MIL 1.0 meter(Lambda) 2(W X L) footprint six-wheel (20 cm dia.) rocker-bogie geometry vehicle of approximately 30 cm ground clearance, weighing only 7 kilograms with an onboard .3 kilogram multi-spectral imager and spectroscopic photometer. By comparison, NASA/JPL's recently flown Mars Pathfinder rover Sojourner is an 11+ kilogram flight experiment (carrying a 1 kg APXS instrument) having approximately .45 X .6 meter(Lambda) 2(WXL) footprint and 15 cm ground clearance, and about half the warm electronics enclosure (WEE) volume with twice the diurnal temperature swing (-40 to +40 degrees Celsius) of LSR- 1 in nominal Mars environments. We are also developing a new, smaller 5 kilogram class LSR-type vehicle for Mars sample return -- the travel to, localization of, pick-up, and transport back to an Earth return ascent vehicle of a sample cache collected by earlier science missions. This sample retrieval rover R&D prototype has a completely collapsible mobility system enabling rover stowage to approximately 25% operational volume, as well an actively articulated axle, allowing changeable pose of the wheel strut geometry for improved transverse and manipulation characteristics.

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

NASA Astrophysics Data System (ADS)

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

2007-12-01

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

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.

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.

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

NASA Astrophysics Data System (ADS)

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

2017-04-01

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

Initiating the 2002 Mars Science Laboratory (MSL) Focused Technology Program

NASA Technical Reports Server (NTRS)

Caffrey, Robert T.; Udomkesmalee, Gabriel; Hayati, Samad A.

2004-01-01

The Mars Science Laboratory (MSL) Project is an aggressive mission launching in 2009 to deliver a new generation of rover safely to the surface of Mars and conduct comprehensive in situ investigations using a new generation of instruments. This system will be designed to land with precision and be capable of operating over a large percentage on the surface of Mars. It will have capabilities that will support NASA's scientific goals into the next decade of exphation. The MSL Technology program is developing a wide-range of technologies needed for this Mission and potentially other space missions. The MSL Technology Program reports to both the MSL Project and the Mars Technology Program (MTP). The dual reporting process creates a challenging management situation, but ensures the new technology meets both the specific MSL requirements and the broader Mars Program requirements. MTP is a NASA-wide technology development program managed by the Jet Propulsion Laboratory (JPL) and is divided into a Focused Program and a Base Program. The Focused Technology Program addresses technologies that are specific and critical to near-term missions, while the Base Technology Program addresses those technologies that are applicable to multiple missions and which can be characterized as longer term, higher risk, and high payoff technologies. The MSL Technology Program is under the Focused Program and is tightly coupled to MSL's mission milestones and deliverables. The technology budget is separate from the flight Project budget, but the technology s requirements and the development process are tightly coordinated with the Project. The Technology Program combines proven management techniques of flight projects with commercial and academic technology management strategies, to create a technology management program that meets the near-term requirements of MSL and the long-term requirements of MTP. This paper examines the initiation of 2002 MSL Technology program. Some of the areas discussed in this paper include technology definition, task selection, technology management, and technology assessment.

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.

Rover concepts for lunar exploration

NASA Technical Reports Server (NTRS)

Connolly, John F.

1993-01-01

The paper describes the requirements and design concepts developed for the First Lunar Outpost (FLO) and the follow-on lunar missions by the Human Planet Surface Project Office at the Johnson Space Center, which include inputs from scientists, technologists, operators, personnel, astronauts, mission designers, and program managers. Particular attention is given to the requirements common to all rover concepts, the precursor robotic missions, the FLO scenario and capabilities, and the FLO evolution.

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-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-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-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.

Advanced Ceramics for Use as Fuel Element Materials in Nuclear Thermal Propulsion Systems

NASA Technical Reports Server (NTRS)

Valentine, Peter G.; Allen, Lee R.; Shapiro, Alan P.

2012-01-01

With the recent start (October 2011) of the joint National Aeronautics and Space Administration (NASA) and Department of Energy (DOE) Advanced Exploration Systems (AES) Nuclear Cryogenic Propulsion Stage (NCPS) Program, there is renewed interest in developing advanced ceramics for use as fuel element materials in nuclear thermal propulsion (NTP) systems. Three classes of fuel element materials are being considered under the NCPS Program: (a) graphite composites - consisting of coated graphite elements containing uranium carbide (or mixed carbide), (b) cermets (ceramic/metallic composites) - consisting of refractory metal elements containing uranium oxide, and (c) advanced carbides consisting of ceramic elements fabricated from uranium carbide and one or more refractory metal carbides [1]. The current development effort aims to advance the technology originally developed and demonstrated under Project Rover (1955-1973) for the NERVA (Nuclear Engine for Rocket Vehicle Application) [2].

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.

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

Results From Mars Show Electrostatic Charging of the Mars Pathfinder Sojourner Rover

NASA Technical Reports Server (NTRS)

Kolecki, Joseph C.; Siebert, Mark W.

1998-01-01

Indirect evidence (dust accumulation) has been obtained indicating that the Mars Pathfinder rover, Sojourner, experienced electrostatic charging on Mars. Lander camera images of the Sojourner rover provide distinctive evidence of dust accumulation on rover wheels during traverses, turns, and crabbing maneuvers. The sol 22 (22nd Martian "day" after Pathfinder landed) end-of-day image clearly shows fine red dust concentrated around the wheel edges with additional accumulation in the wheel hubs. A sol 41 image of the rover near the rock "Wedge" (see the next image) shows a more uniform coating of dust on the wheel drive surfaces with accumulation in the hubs similar to that in the previous image. In the sol 41 image, note particularly the loss of black-white contrast on the Wheel Abrasion Experiment strips (center wheel). This loss of contrast was also seen when dust accumulated on test wheels in the laboratory. We believe that this accumulation occurred because the Martian surface dust consists of clay-sized particles, similar to those detected by Viking, which have become electrically charged. By adhering to the wheels, the charged dust carries a net nonzero charge to the rover, raising its electrical potential relative to its surroundings. Similar charging behavior was routinely observed in an experimental facility at the NASA Lewis Research Center, where a Sojourner wheel was driven in a simulated Martian surface environment. There, as the wheel moved and accumulated dust (see the following image), electrical potentials in excess of 100 V (relative to the chamber ground) were detected by a capacitively coupled electrostatic probe located 4 mm from the wheel surface. The measured wheel capacitance was approximately 80 picofarads (pF), and the calculated charge, 8 x 10(exp -9) coulombs (C). Voltage differences of 100 V and greater are believed sufficient to produce Paschen electrical discharge in the Martian atmosphere. With an accumulated net charge of 8 x 10(exp -9) C, and average arc time of 1 msec, arcs can also occur with estimated arc currents approaching 10 milliamperes (mA). Discharges of this magnitude could interfere with the operation of sensitive electrical or electronic elements and logic circuits. Sojourner rover wheel tested in laboratory before launch to Mars. Before launch, we believed that the dust would become triboelectrically charged as it was moved about and compacted by the rover wheels. In all cases observed in the laboratory, the test wheel charged positively, and the wheel tracks charged negatively. Dust samples removed from the laboratory wheel averaged a few ones to tens of micrometers in size (clay size). Coarser grains were left behind in the wheel track. On Mars, grain size estimates of 2 to 10 mm were derived for the Martian surface materials from the Viking Gas Exchange Experiment. These size estimates approximately match the laboratory samples. Our tentative conclusion for the Sojourner observations is that fine clay-sized particles acquired an electrostatic charge during rover traverses and adhered to the rover wheels, carrying electrical charge to the rover. Since the Sojourner rover carried no instruments to measure this mission's onboard electrical charge, confirmatory measurements from future rover missions on Mars are desirable so that the physical and electrical properties of the Martian surface dust can be characterized. Sojourner was protected by discharge points, and Faraday cages were placed around sensitive electronics. But larger systems than Sojourner are being contemplated for missions to the Martian surface in the foreseeable future. The design of such systems will require a detailed knowledge of how they will interact with their environment. Validated environmental interaction models and guidelines for the Martian surface must be developed so that design engineers can test new ideas prior to cutting hardware. These models and guidelines cannot be validated without actual flighata. Electrical charging of vehicles and, one day, astronauts moving across the Martian surface may have moderate to severe consequences if large potential differences develop. The observations from Sojourner point to just such a possibility. It is desirable to quantify these results. The various lander/rover missions being planned for the upcoming decade provide the means for doing so. They should, therefore, carry instruments that will not only measure vehicle charging but characterize all the natural and induced electrical phenomena occurring in the environment and assess their impact on future missions.

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

NASA Astrophysics Data System (ADS)

Tao, Yu; Muller, Jan-Peter

2015-04-01

Higher resolution imaging data is always desirable to critical rover engineering operations, such as landing site selection, path planning, and optical localisation. For current Mars missions, 25cm HiRISE images have been widely used by the MER & MSL engineering team for rover path planning and location registration/adjustment. However, 25cm is not high enough resolution to be able to view individual rocks (≤2m in size) or visualise the types of sedimentary features that rover onboard cameras might observe. Nevertheless, due to various physical constraints (e.g. telescope size and mass) from the imaging instruments themselves, one needs to be able to tradeoff spatial resolution and bandwidth. This means that future imaging systems are likely to be limited to resolve features larger than 25cm. We have developed a novel super-resolution algorithm/pipeline to be able to restore higher resolution image from the non-redundant sub-pixel information contained in multiple lower resolution raw images [Tao & Muller 2015]. We will demonstrate with experiments performed using 5-10 overlapped 25cm HiRISE images for MER-A, MER-B & MSL to resolve 5-10cm super resolution images that can be directly compared to rover imagery at a range of 5 metres from the rover cameras but in our case can be used to visualise features many kilometres away from the actual rover traverse. We will demonstrate how these super-resolution images together with image understanding software can be used to quantify rock size-frequency distributions as well as measure sedimentary rock layers for several critical sites for comparison with rover orthorectified image mosaic to demonstrate optimality of using our super-resolution resolved image to better support future lander and rover operation in future. We present the potential of super-resolution for virtual exploration to the ˜400 HiRISE areas which have been viewed 5 or more times and the potential application of this technique to all of the ESA ExoMars Trace Gas orbiter CaSSiS stereo, multi-angle and colour camera images from 2017 onwards. Acknowledgements: The research leading to these results has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement No.312377 PRoViDE.

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

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

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.

Nuclear Thermal Rocket (Ntr) Propulsion: A Proven Game-Changing Technology for Future Human Exploration Missions

NASA Technical Reports Server (NTRS)

Borowski, Stanley K.; McCurdy, David R.; Packard, Thomas W.

2012-01-01

The NTR represents the next evolutionary step in high performance rocket propulsion. It generates high thrust and has a specific impulse (Isp) of approx.900 seconds (s) or more V twice that of today s best chemical rockets. The technology is also proven. During the previous Rover and NERVA (Nuclear Engine for Rocket Vehicle Applications) nuclear rocket programs, 20 rocket reactors were designed, built and ground tested. These tests demonstrated: (1) a wide range of thrust; (2) high temperature carbide-based nuclear fuel; (3) sustained engine operation; (4) accumulated lifetime; and (5) restart capability V all the requirements needed for a human mission to Mars. Ceramic metal cermet fuel was also pursued, as a backup option. The NTR also has significant growth and evolution potential. Configured as a bimodal system, it can generate electrical power for the spacecraft. Adding an oxygen afterburner nozzle introduces a variable thrust and Isp capability and allows bipropellant operation. In NASA s recent Mars Design Reference Architecture (DRA) 5.0 study, the NTR was selected as the preferred propulsion option because of its proven technology, higher performance, lower launch mass, simple assembly and mission operations. In contrast to other advanced propulsion options, NTP requires no large technology scale-ups. In fact, the smallest engine tested during the Rover program V the 25,000 lbf (25 klbf) Pewee engine is sufficient for human Mars missions when used in a clustered engine arrangement. The Copernicus crewed spacecraft design developed in DRA 5.0 has significant capability and a human exploration strategy is outlined here that uses Copernicus and its key components for precursor near Earth asteroid (NEA) and Mars orbital missions prior to a Mars landing mission. Initially, the basic Copernicus vehicle can enable reusable 1-year round trip human missions to candidate NEAs like 1991 JW and Apophis in the late 2020 s to check out vehicle systems. Afterwards, the Copernicus spacecraft and its 2 key components, now configured as an Earth Return Vehicle / propellant tanker, would be used for a short round trip (approx.18 - 20 months)/short orbital stay (60 days) Mars / Phobos survey mission in 2033 using a split mission approach. The paper also discusses NASA s current Foundational Technology Development activities and its pre-decisional plans for future system-level Technology Demonstrations that include ground testing a small (approx.7.5 klbf) scalable NTR before the decade is out with a flight test shortly thereafter.

A High Speed, Long-Range Mobile Communications Link for use in Polar Regions

NASA Astrophysics Data System (ADS)

Chalishazar, N.; Prescott, G.; Braaten, D.

2003-12-01

The Polar Radar for Ice Sheet Measurements (PRISM) project has developed a high bandwidth, wireless communications link between an autonomous rover and a manned vehicle deployed on a polar ice sheet to exchange real-time video, timing signals for a bistatic radar, and rover sensory data. The PRISM project is developing advanced intelligent remote sensing technology that involves radar systems, an autonomous rover, and communications systems to measure detailed ice sheet characteristics, and to determine bed conditions (frozen or wet) below active ice sheets in both Greenland and Antarctica. While this wireless communications link is being developed to fill a need within the PRISM Project, the same technology will allow polar researchers separated by moderate distances ( ˜10 km) to exchange data. The communications link is based on a high data rate 802.11b wireless technology, and a prototype system has been tested and evaluated during field experiments conducted at the NorthGRIP ice core drilling camp in Greenland (75° 06\\'\\ N, 42° 20\\'\\ W) from June 23-July 17, 2003. The IEEE 802.11b standard works in the 2.4-2.483 GHz band and has been widely used for high-speed data transfer in a WLAN (Wireless Local Area Network). It typically has a range of a few hundred meters and theoretical data rates on the order of 11 Mbps. It has been used for a number of applications in home and office environments. We modified a 802.11b system to operate up to a maximum distance of about 8 km and investigated the radio propagation environment over the flat terrain of the Greenland ice sheet. We evaluated its performance along three different tracks of 8 km in length, and made throughput measurements at intervals of 0.5 km. We measured the received signal strength and noise level in 2-s intervals along these 8 km tracks. Also we conducted experiments for four different antenna heights (1, 2, 3 and 5 m) for developing a radio propagation model for WLAN communication over the ice sheet. We found that peer-to-peer communication between nodes on the ice had data rates varying from 4.5 Mbps at close range to 2.5 Mbps at a distance of 8 km from the base station. The design, propagation model, throughput and coverage of this peer-to-peer communications system in Greenland are presented in this paper. This WLAN system has numerous applications in polar field camps. We tested the transfer of real-time video segments across this link for our educational outreach efforts in the field. These video segments were subsequently uploaded using an Iridium-based Internet link, and sent back to the University of Kansas. The wireless Internet connectivity was also made available to members of the North Grip camp, who were able to access e-mail and the Internet from their tents and common areas. However, throughput for wireless access to the Internet was limited by the Iridium-based Internet connection that had a maximum bandwidth of 9.6 Kbps.

Update on Rover Sequencing and Visualization Program

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

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

NASA Technical Reports Server (NTRS)

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

NASA Lunar Dust Filtration and Separations Workshop Report

NASA Technical Reports Server (NTRS)

Agui, Juan H.; Stocker, Dennis P.

2009-01-01

NASA Glenn Research Center hosted a 2.5-day workshop, entitled "NASA Lunar Dust Filtration and Separations Workshop" at the Ohio Aerospace Institute in Cleveland, Ohio, on November 18 to 20, 2008. The purpose of the workshop was to address the issues and challenges of particulate matter removal from the cabin atmospheres in the Altair lunar lander, lunar habitats, and in pressurized rovers. The presence of lunar regolith dust inside the pressurized volumes was a theme of particular interest. The workshop provided an opportunity for NASA, industry experts, and academia to identify and discuss the capabilities of current and developing air and gas particulate matter filtration and separations technologies as they may apply to NASA s needs. A goal of the workshop was to provide recommendations for strategic research areas in cabin atmospheric particulate matter removal and disposal technologies that will advance and/or supplement the baseline approach for these future lunar surface exploration missions.

Appropriate Simulants are a Requirement for Mars Surface Systems Technology Development

NASA Technical Reports Server (NTRS)

Edmunson, Jennifer E.; McLemore, Carole A.; Rickman, Douglas L.

2012-01-01

To date, there are two simulants for martian regolith: JSC Mars-1A, produced from palagonitic (weathered) basaltic tephra mined from the Pu'u Nene cinder cone in Hawaii [1] by commercial company Orbitec, and Mojave Mars Simulant (MMS), produced from Saddleback Basalt in the western Mojave desert by the Jet Propulsion Laboratory [2]. Until numerous recent orbiters, rovers, and landers were sent to Mars, weathered basalt was surmised to cover every inch of the martian landscape. All missions since Viking have disproven that the entire martian surface is weathered basalt. In fact, the outcrops, features, and surfaces that are significantly different from weathered basalt are too numerous to realistically count. There are gullies, evaporites, sand dunes, lake deposits, hydrothermal deposits, alluvium, etc. that indicate sedimentary and chemical processes. There is no one size fits all simulant. Each unique area requires its own simulant in order to test technologies and hardware, thereby reducing risk.

Spirit Mini-TES Observations: From Bonneville Crater to the Columbia Hills.

NASA Astrophysics Data System (ADS)

Blaney, D. L.; Athena Science

2004-11-01

During the Mars Exploration Rover Extended Mission the Spirit rover traveled from the rim of the crater informally known as "Bonneville, Crater" into the hills informally known as the "Columbia Hills" in Gusev Crater. During this >3 km drive Mini-TES (Miniature Thermal Emission Spectrometer) collected systematic observations to characterize spectral diversity and targeted observations of rocks, soils, rover tracks, and trenches. Surface temperatures have steadily decreased during the drive and arrival into the Columbia hills with the approach of winter. Mini-TES covers the 5-29 micron spectral region with a 20 mrad aperture that is co-registered with panoramic and navigation cameras. As at the landing site (Christensen et al., Science, 2004), many dark rocks in the plains between "Bonneville Crater" show long wavelength (15-25 μm) absorptions due to olivine consistent with the detection of olivine-bearing basalt at this site from orbital TES infrared spectroscopy. Rocks with the spectral signature of olivine are rarer in the Columbia Hills. Measurements of outcrops of presumably intact bedrock lack any olivine signature and are consistent with other results indicating that these rocks are highly altered. Rock coatings and fine dust on rocks are common. Soils have thin dust coatings and disturbed soil (e.g rover tracks and trenches) are consistent with basalt. Mini-TES observations were coordinated with Panoramic Camera (Pancam) observations to allow us to search for correlations of visible spectra properties with infrared. This work was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under contract to NASA.

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.

Approaching Suspicious Substances Safely

NASA Technical Reports Server (NTRS)

2004-01-01

A mineral identification tool that was developed for NASA's Mars Rover Technology Development program is now serving as a powerful tool for U.S. law enforcement agencies and military personnel to identify suspicious liquid and solid substances. The tool can measure unknown substances through glass and plastic packaging materials with the RamanProbe(TradeMark) focused fiber-optic probe. The probe length can be extended up to 200 meters to enable users to analyze potentially dangerous substances at a safe distance. In many cases, the spectrometer and personnel are kept in a safe zone while the probe is positioned next to the sample being analyzed. Being able to identify chemicals in remote locations also saves users time and labor, since otherwise the samples would need to be collected, transported, and prepared prior to measurement in the laboratory.