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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS2006

Reaction force of percussive corer, rotary-friction corer, and rotary-percussive corer

Future NASA exploration missions will increasingly require sampling, in-situ analysis and possibly the return of material to Earth for laboratory analysis. To address these objective, effective and optimized drilling techniques are needed. This requires developing comprehensive tools to be able to determine analytically what takes place during the operation and what are the control parameters that can be enhanced. In this study, three types of coring techniques were studied and were identified as potential candidates for operation from a possible future Mars Sample Return (MSR) mission rover. These techniques include percussive, rotary-friction, and rotary-percussive coring. Theoretical models were developed to predict the dynamic reaction forces transmitted from these three types of corers to the robotic arms that hold them. The predicted reaction forces will then be used in a dynamic simulation environment to simulate a representative corer tool to obtain a best estimate of a tool that can be operated from a small rover. The predicted dynamic reaction forces will be presented in this paper.

Ultrasonic Percussive corer↗
NASA NTRS2005

The Mast Cameras and Mars Descent Imager (MARDI) for the 2009 Mars Science Laboratory

Based on operational experience gained during the Mars Exploration Rover (MER) mission, we proposed and were selected to conduct two related imaging experiments: (1) an investigation of the geology and short-term atmospheric vertical wind profile local to the Mars Science Laboratory (MSL) landing site using descent imaging, and (2) a broadly-based scientific investigation of the MSL locale employing visible and very near infra-red imaging techniques from a pair of mast-mounted, high resolution cameras. Both instruments share a common electronics design, a design also employed for the MSL Mars Hand Lens Imager (MAHLI) [1]. The primary differences between the cameras are in the nature and number of mechanisms and specific optics tailored to each camera s requirements.

Malin, M. C.↗
NASA NTRS2008

Robots Explore the Farthest Reaches of Earth and Space

"We were the first that ever burst/Into that silent sea," the title character recounts in Samuel Taylor Coleridge s opus Rime of the Ancient Mariner. This famous couplet is equally applicable to undersea exploration today as surface voyages then, and has recently been applied to space travel in the title of a chronicle of the early years of human space flight ("Into That Silent Sea: Trailblazers of the Space Era, 1961-1965"), companion to the +n the Shadow of the Moon book and movie. The parallel is certainly fitting, considering both fields explore unknown, harsh, and tantalizingly inhospitable environments. For starters, exploring the Briny Deep and the Final Frontier requires special vehicles, and the most economical and safest means for each employ remotely operated vehicles (ROVs). ROVs have proven the tool of choice for exploring remote locations, allowing scientists to explore the deepest part of the sea and the furthest reaches of the solar system with the least weight penalty, the most flexibility and specialization of design, and without the need to provide for sustaining human life, or the risk of jeopardizing that life. Most NASA probes, including the historic Voyager I and II spacecraft and especially the Mars rovers, Spirit and Opportunity, feature remote operation, but new missions and new planetary environments will demand new capabilities from the robotic explorers of the future. NASA has an acute interest in the development of specialized ROVs, as new lessons learned on Earth can be applied to new environments and increasingly complex missions in the future of space exploration.

Source record↗
NASA NTRS2003

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

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.

D A Cremers↗
NASA NTRS2018

Extreme Temperature Performance of Automotive-Grade Small Signal Bipolar Junction Transistors

Electronics designed for space exploration missions must display efficient and reliable operation under extreme temperature conditions. For example, lunar outposts, Mars rovers and landers, James Webb Space Telescope, Europa orbiter, and deep space probes represent examples of missions where extreme temperatures and thermal cycling are encountered. Switching transistors, small signal as well as power level devices, are widely used in electronic controllers, data instrumentation, and power management and distribution systems. Little is known, however, about their performance in extreme temperature environments beyond their specified operating range; in particular under cryogenic conditions. This report summarizes preliminary results obtained on the evaluation of commercial-off-the-shelf (COTS) automotive-grade NPN small signal transistors over a wide temperature range and thermal cycling. The investigations were carried out to establish a baseline on functionality of these transistors and to determine suitability for use outside their recommended temperature limits.

Thermal Cycling↗
NASA NTRS2022

Mars 2020 Perseverance Rover Surface Operations Commissioning Phase Overview

This paper presents work done by the Mars 2020 Project to plan, test, and execute the Mars 2020 Perseverance Rover surface operations commissioning phase. Immediately after the successful landing of Mars 2020 Perseverance rover at Jezero Crater on February 18, 2021, the rover autonomously initiated mission critical commanding necessary to transition the vehicle from a Cruise/EDL to Surface operations configuration. This began the surface operations commissioning phase, referred to as Surface Operations Transition (SOX). The objective of SOX phase is to establish vehicle health and safety and to verify that the operational characteristics of the vehicle, now operating in the Martian environment, are as-expected and safe to proceed into nominal operations. The SOX commissioning phase is organized into six logical sub-phases occurring in the following chronological order; (1) SOX1a, (2) FSW Transition, (3) SOX1b, (4) SOX2a, (5) Heli, (6) SOX2b. In total, the SOX commissioning phase was expected to take up-to 111 sols (Martian days). The Perseverance rover is an extremely complex, highly-integrated, robotic system-of-systems that requires numerous activities to incrementally and methodically verify their safe operations. This paper will discuss the development process used to plan, test, and execute the SOX commissioning phase for Mars 2020 Perseverance rover surface operations. We will discuss key challenges associated with SOX development as well as actual operations execution experience.

Koch, Justin↗
NASA NTRS1993

Lunar surface operations. Volume 4: Lunar rover trailer

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

Shields, William↗
NASA NTRS2006

Ground-Based Localization of Mars Rovers

The document discusses a procedure for localizing the Mars rovers in site frame, a locally defined reference frame on the Martian surface. MER onboard position within a site frame is estimated onboard and is based on wheel odometry. Odometry estimation of rover position is only reliable over relatively short distances assuming no wheel slip, sinkage, etc. As the rover traverses, its onboard estimate of position in the current site frame accumulates errors and will need to be corrected on occasions via relocalization on the ground (mission operations). The procedure provides a systematic process for ground operators to localize the rover. The method focuses on analysis of acquired images used to declare a site frame and images acquired post-drive. Target selection is performed using two main steps. In the first step, the user identifies features of interest from the images used to declare the current site. Each of the selected target s position in site frame is recorded. In the second step, post-traverse measurements of the selected features positions are recorded again, this time in rover frame, using images acquired post-traverse. In the third step, we transform the post-traverse target s positions to local level frame. In the fourth step, we compute the delta differences in the pre- and post-traverse target s position. In the fifth step, we analyze the delta differences with techniques that compute their statistics to determine the rover s position in the site frame.

Trebi-Ollennu, Ashitey↗
NASA NTRS2018

The Mars Reconnaissance Orbiter Mission: 2018 Status

The Mars Reconnaissance Orbiter (MRO) continues its dual-mode mission of scientific exploration and programmatic support. Now in its 13th year of flight (and its 12th year in its low-altitude, sun-synchronous orbit around Mars), the spacecraft continues in its normal flight mode and its science instruments continue to acquire a treasure trove of data which is being used to study the Martian environment (surface, sub-surface, and atmosphere). To date (July 2018), more than 333 TB of scientific data have been returned to Earth. Building onto the 2017 IAC paper: “The Mars Reconnaissance Orbiter Mission: Continuing a Record of Exploration from Mars Orbit,” [1] this paper provides a 2018 status update on the MRO Mission. A signature event since the 2017 writing is the onset and evolution of a planet-encircling dust event (PEDE), the first such event since 2007. Additional recent science highlights for MRO include the discovery of mid-latitude ice cliffs, polar cap characterization, daily global mapping of the 2018 PEDE dust activity and the atmospheric thermal response, further characterization of the tantalizing recurring slope lineae (RSL), and continued detection of surface changes. Programmatically, UHF relay support for the Mars Science Laboratory (MSL) rover Curiosity and the Mars Exploration Rover (MER) rover Opportunity continues at a pace that provides the engineers and scientists operating those surface vehicles timely information to support their mission planning and science analysis. Most of the landing site characterization requests for the NASA Mars 2020 rover and the ESA ExoMars Rover/Surface Platform (RSP) missions have been completed, with final acquisitions delayed due to the obscuring dust haze from the current PEDE. In parallel, the flight team has faced new engineering challenges as the spacecraft has aged. The team has developed and is implementing actions that are aimed at stretching spacecraft battery life. A new all-stellar capability using the spacecraft’s star trackers now allows for normal spacecraft operations without IMUs. In addition to its current relay duties, MRO will be synchronized to provide critical communications support for the InSight Entry, Descent, and Landing (EDL) event on November 26, 2018, and will be readied to support InSight’s critical commissioning phase with UHF relay support and environmental characterization. A new split-pass relay capability has been developed which will allow MRO to relay with two surface vehicles in “close proximity” on the same overflight, i.e. the InSight lander and the Curiosity rover. Extended for another year of operations by NASA, this paper will highlight recent scientific progress and describe actions that will extend MRO’s life well into the 2020’s as a key element of the Mars Exploration Program.

Zurek, Richard W.↗
NASA NTRSDate not supplied

Science, Exploration and the Human Experience.

Dr. Darlene S. Lim is a research scientist at NASA's Ames Research Center in California's Silicon Valley, and the Deputy Project Scientist and Science Operations Lead for NASA's Volatiles Investigating Polar Exploration Rover (VIPER) Lunar Mission. The VIPER lunar rover mission is a mobile robot that will go to the South Pole of the Moon to get a close-up view of the location and concentration of water ice that could eventually be harvested to sustain human exploration on the Moon, Mars — and beyond. VIPER represents the first resource mapping mission on another celestial body and presents a unique operational paradigm within the history of robotic spaceflight. Throughout her career, Darlene has led several NASA-funded programs that have been focused on blending field science research with the development of capabilities and concepts for future human-robotic spaceflight to the Moon and Mars. These research activities have taken her around the world, from pole to pole, land to sea, and to many lakes in between, where she has studied life in extreme environments, the way people conduct science, and how they need to be supported in their work of discovery and exploration. At the center of each of these endeavors is the human - the person who must interact with others, with technology, and with the environment of interest, to apply the scientific method towards the accrual and expansion of knowledge about the planet that we live on and beyond. Darlene has been working with teams of scientists and engineers from a variety of disciplines to hone her understanding of the process by which their interactions and research needs can be supported and enabled under intense operational conditions such as those associated with Moon and Mars exploration. Darlene’s presentation will take the audience through the arc of her research over the past two decades culminating in her on-going work with the NASA VIPER lunar rover mission.

Darlene Sze Shien Lim↗
NASA NTRS2025

VIPER’s Mass Spectrometer observing lunar operations (MSolo)

The Volatiles Investigating Polar Exploration Rover (VIPER) is a lunar volatiles detection and measurement mission that will land on Mons Mouton near Nobile crater, close to the Moon’s south pole. One of the analytical instruments embedded within the rover is the Mass Spectrometer observing lunar operations (MSolo) instrument. VIPER’s data will ultimately be used to create lunar water resource maps that may enable a sustained presence on the lunar surface. As VIPER navigates several kilometers of terrain, its onboard analytical instrumentation will characterize the presence of volatiles along the traverse path and identify candidate locations for drilling. Upon selection of a drilling site, the rover will position itself and deploy an auguring, percussive drill down to a meter depth. Upon extraction, regolith cuttings captured by the auger are deposited on the surface; an activity that will initiate the release of any volatile gases that are subsequently detected and quantified by MSolo. MSolo is designed to identify low-molecular-weight volatiles (between m/z 1-100) with unit mass resolution. Volatiles of interest include D/H and O18/O16 bearing species, including possible water contained within the lunar regolith. MSolo is a modified, commercial off-the-shelf (COTS) system, meaning the instrument is based on a commercially available unit that has been ruggedized for space applications.

MSolo↗
NASA NTRS2008

Targeting and Localization for Mars Rover Operations

A design and a partially developed application framework were presented for improving localization and targeting for surface spacecraft. The program has value for the Mars Science Laboratory mission, and has been delivered to support the Mars Exploration Rovers as part of the latest version of the Maestro science planning tool. It also has applications for future missions involving either surface-based or low-altitude atmospheric robotic vehicles. The targeting and localization solutions solve the problem of how to integrate localization estimate updates into operational planning tools, operational data product generalizations, and flight software by adding expanded flexibility to flight software, the operations data product pipeline, and operations planning tools based on coordinate frame updates during a planning cycle.

Powell, Mark W.↗
NASA NTRS2006

Mission Operations Planning with Preferences: An Empirical Study

This paper presents an empirical study of some nonexhaustive approaches to optimizing preferences within the context of constraint-based, mixed-initiative planning for mission operations. This work is motivated by the experience of deploying and operating the MAPGEN (Mixed-initiative Activity Plan GENerator) system for the Mars Exploration Rover Mission. Responsiveness to the user is one of the important requirements for MAPGEN, hence, the additional computation time needed to optimize preferences must be kept within reasonabble bounds. This was the primary motivation for studying non-exhaustive optimization approaches. The specific goals of rhe empirical study are to assess the impact on solution quality of two greedy heuristics used in MAPGEN and to assess the improvement gained by applying a linear programming optimization technique to the final solution.

Bresina, John L.↗
NASA NTRS2022

Flight Software Dictionary Development for the Mars2020 Rover

The Mars2020 project, developed and operated by the Jet Propulsion Laboratory (JPL), successfully landed the Perseverance rover and its flying companion Ingenuity on the surface of Mars on February 18th 2021. Perseverance combines heritage and cutting-edge flight software and hardware to accomplish crucial mission requirements related to Martian surface sampling. The design, development, and operation of NASA’s large strategic science missions require the ability to communicate spacecraft capabilities to hundreds of engineers across multiple disciplines. The interaction between flight and ground software development, Verification and Validation (V&V), Assembly, Test, and Launch Operations (ATLO), and management each demand quick understanding of unique slices of information for each discipline. This information includes the current capabilities of the flight system as well as future capabilities and their status as they are developed and tested. Despite the fundamental and critical nature of this information, the flight software dictionaries used to track it are a stumbling block for many projects. These dictionaries provide the cornerstone for the interpretation of data sent from the spacecraft, allowing for quick comprehension by engineers on the ground. During both spacecraft development and operations, flight software dictionary management includes significant challenges due to the large number of interfacing systems and the subtle yet distinct needs of each.The engineering of flight software dictionaries for Mars2020 had numerous challenges, most-notably: parallel dictionary development to support simultaneous separate flight software build campaigns for each mission phase (cruise and surface), managing requests for operations-enabling information without perturbing the heritage interface with the rover, and the introduction of new tools by the dictionary stakeholders that forced the dictionary team to innovate and redesign the heritage tool chain. These challenges generated guiding principles for the dictionary development effort: emphasize coding best practices and unit testing in the dictionary code development tool chain, use institutionally provided COTS (commercial-off-the-shelf) tools whenever possible, and maintain the heritage flight-ground interface all while advancing operations-enabling information via a loosely coupled interface.Throughout development and operations, the Mars2020 dictionary toolchain included IBM DOORS Next Generation, GitHub, Microsoft Excel, Docker, Jenkins, and a significant custom-built Python codebase. Significant interfaces included JPL’s command and control software, heritage flight software team tools and processes, and the many cloud-based ground tools developed for the mission.This paper will discuss the requirements for the Mars2020 dictionary development, the development team’s response to those requirements, lessons learned throughout the process, steps taken towards automated deliveries and continuous integration of stakeholder inputs, potential toolchain improvements for Mars2020, and key takeaways that could be applied to future missions.

Pyrzak, Guy↗
NASA NTRS2002

Design and Manufacturing of Extremely Low Mass Flight Systems

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

Johnson, Michael R.↗
NASA NTRS2002

Instrument Deployment for Mars Rovers

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

Pedersen, Liam↗