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NASA NTRS2003

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

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.

R E Arvidson↗
NASA NTRS2003

Meridiani Planum Hematite Deposit: Potential for Preservation of Microfossils

Christensen et al., using data from the Mars Global Surveyor Thermal Emission Spectrometer (TES), have identified gray crystalline hematite in a 350 km by 750 km region near Meridiani Planum. The deposit corresponds closely to the low-albedo highlands unit sm, mapped as a wind-eroded, ancient, subaqueous sedimentary deposit. Christensen et al. interpreted the Meridiani Planum deposit to be an in-place, rock-stratigraphic sedimentary unit characterized by smooth, friable layers composed primarily of basaltic sediments with approximately 10 to 15% crystalline gray hematite. The Meridiani Planum hematite deposit has recently been designated as the prime landing site for one of the two Mars Exploration Rover (MER) spacecraft. The MER landings are scheduled for January, 2004. Christensen et al. discussed five possible mechanisms for the formation of this deposit: direct precipitation from standing, oxygenated, Fe-rich water; precipitation from Fe-rich hydrothermal fluids; low-temperature dissolution and precipitation through mobile groundwater leaching; surface weathering and coatings; thermal oxidation of magnetite-rich lavas. Four of these mechanisms involve the interactions of rock with water, and thus have implications in the search for evidence of microbial life.

C C Allen↗
NASA NTRS2003

Pancam: A Multispectral Imaging Investigation on the NASA 2003 Mars Exploration Rover Mission

One of the six science payload elements carried on each of the NASA Mars Exploration Rovers (MER; Figure 1) is the Panoramic Camera System, or Pancam. Pancam consists of three major components: a pair of digital CCD cameras, the Pancam Mast Assembly (PMA), and a radiometric calibration target. The PMA provides the azimuth and elevation actuation for the cameras as well as a 1.5 meter high vantage point from which to image. The calibration target provides a set of reference color and grayscale standards for calibration validation, and a shadow post for quantification of the direct vs. diffuse illumination of the scene. Pancam is a multispectral, stereoscopic, panoramic imaging system, with a field of regard provided by the PMA that extends across 360 of azimuth and from zenith to nadir, providing a complete view of the scene around the rover in up to 12 unique wavelengths. The major characteristics of Pancam are summarized.

J F Bell III↗
NASA NTRS2003

Ten-Meter Scale Topography and Roughness of Mars Exploration Rovers Landing Sites and Martian Polar Regions

The Mars Orbiter Camera (MOC) has been operating on board of the Mars Global Surveyor (MGS) spacecraft since 1998. It consists of three cameras - Red and Blue Wide Angle cameras (FOV=140 deg.) and Narrow Angle camera (FOV=0.44 deg.). The Wide Angle camera allows surface resolution down to 230 m/pixel and the Narrow Angle camera - down to 1.5 m/pixel. This work is a continuation of the project, which we have reported previously. Since then we have refined and improved our stereo correlation algorithm and have processed many more stereo pairs. We will discuss results of our stereo pair analysis located in the Mars Exploration rovers (MER) landing sites and address feasibility of recovering topography from stereo pairs (especially in the polar regions), taken during MGS 'Relay-16' mode.

Ivanov, Anton B.↗
NASA NTRS2003

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

The Panoramic Camera System (Pancam) is part of the Athena science payload to be launched to Mars in 2003 on NASA's twin Mars Exploration Rover (MER) missions. The Pancam imaging system on each rover consists of two major components: a pair of digital CCD cameras, and the Pancam Mast Assembly (PMA), which provides the azimuth and elevation actuation for the cameras as well as a 1.5 meter high vantage point from which to image. Pancam is a multispectral, stereoscopic, panoramic imaging system, with a field of regard provided by the PMA that extends across 360 of azimuth and from zenith to nadir, providing a complete view of the scene around the rover.

Bell, J. F., III↗
NASA NTRS2003

Selection of the Final Four Landing Sites for the Mars Exploration Rovers

Engineering constraints developed for the Mars Exploration Rovers (MER), their translation into ~185 potential landing sites and their downselection to 6 high priority science sites have been described [1, 2]. These 6 sites (Meridiani-previously referred to as Hematite, Gusev, Isidis, Melas, Eos, and Athabasca) were evaluated in detail as to their science potential and safety, relative to specific engineering constraints, at the 3rd MER Landing Site Workshop held March 26-28, 2002 in Pasadena, CA. This abstract describes: (1) the evaluation of these 6 sites, (2) the removal and reprioritization of sites following this workshop, (3) the identification of a low-wind site in Elysium, (4) the final 4 sites being considered for landing the 2 MER and (5) their evaluation at the 4th MER Landing Site Workshop held January 8-10, 2003 in Pasadena, CA [3].

Golombek, M.↗
NASA NTRS2004

Moessbauer Spectroscopy of Soils and Rocks at Gusev Crater and Meridiani Planum

For the first time in history a Moessbauer spectrometer was placed on the surface of another planet. The miniaturized Moessbauer spectrometer MIMOS II is part of the Athena payload of NASA's twin Mars Exploration Rovers (MER) Spirit,and Opportunity. It determines the Fe-bearing mineralogy of Martian soils and rocks at the Rovers respective landing sites, Gusev crater and Meridiani Planum. First results of soil and rock measurements at both landing sites confirm a generally basaltic composition of Martian surface materials.

Klingelhoefer, G.↗
NASA NTRS2004

First Results of the Athena Microscopic Imager Investigation

The Athena science payload on the Mars Exploration Rovers (MER) includes the Microscopic Imager (MI). The MI is a fixed-focus camera mounted on an extendable arm, the Instrument Deployment Device (IDD). The MI acquires images at a spatial resolution of 30 microns/pixel over a broad spectral range (400 - 700 nm). The MI uses the same electronics design as the other MER cameras but its optics yield a field of view of 31 x 31 mm across a 1024 x 1024 pixel CCD image. The MI acquires images using only solar or skylight illumination of the target surface. A contact sensor is used to place the MI slightly closer to the target surface than its best focus distance (about 69 mm), allowing concave surfaces to be imaged in good focus. Coarse focusing (approx. 2 mm precision) is achieved by moving the IDD away from a rock target after contact is sensed. The MI optics are protected from the Martian environment by a retractable dust cover. This cover includes a Kapton window that is tinted orange to restrict the spectral bandpass to 500 - 700 nm, allowing crude color information to be obtained by acquiring images with the cover open and closed. The MI science objectives, instrument design and calibration, operation, and data processing were described by Herkenhoff et al. Initial results of the MI experiment on both MER rovers ('Spirit' and 'Opportunity') are described below.

Herkenhoff, K.↗
NASA NTRS2004

Mars Exploration Rover Panoramic Camera Multidimensional Analyses and Surface Spectral Variability

The Mars Exploration Rover (MER) panoramic camera system (Pancam) has provided surface-based multispectral image data with unprecedented spatial and radiometric fidelity. The spectral coverage of the camera system allows for the discrimination of important Fe2+ and Fe3+ bearing minerals expected to occur on the Martian surface . This paper explores the spatially coherent and structurally consistent spectral variability present at both the Spirit and Opportunity landing sites using multidimensional analysis of representative Pancam multispectral scenes.

Seelos, F. P., IV↗
NASA NTRS2004

Signs of Life in Meridiani Planum: What Might Opportunity See (Or Miss)?

The Meridiani Planum hematite deposit has been designated as the prime landing site for Opportunity, one of the two Mars Exploration Rover (MER) spacecraft. Iron oxide and hydroxide minerals, including hematite, can mineralize and preserve microfossils and physical biomarkers. Previous research by ourselves and others, summarized below, has demonstrated such mineralization in a variety of terrestrial hematite deposits. Our most recent study has focused on the mineralization of microorganisms in rock varnish, the iron- and manganese-rich layers that coat rocks in many arid environments.

Allen, C. C.↗
NASA NTRS2004

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

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

Iskenderian, Ted↗
NASA NTRS2004

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

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.

Harrington, Brian D.↗
NASA NTRS2004

An Ontology for Requesting Distant Robotic Action: A Case Study in Naming and Action Identification for Planning on the Mars Exploration Rover Mission

This paper focuses on the development and use of the abbreviated names as well as an emergent ontology associated with making requests for action of a distant robotic rover during the 2003-2004 NASA Mars Exploration Rover (MER) mission, run by the Jet Propulsion Laboratory. The infancy of the domain of Martian telerobotic science, in which specialists request work from a rover moving through the landscape, as well as the need to consider the interdisciplinary teams involved in the work required an empirical approach. The formulation of this ontology is grounded in human behavior and work practice. The purpose of this paper is to identify general issues for an ontology of action (specifically for requests for action), while maintaining sensitivity to the users, tools and the work system within a specific technical domain. We found that this ontology of action must take into account a dynamic environment, changing in response to the movement of the rover, changes on the rover itself, as well as be responsive to the purposeful intent of the science requestors. Analysis of MER mission events demonstrates that the work practice and even robotic tool usage changes over time. Therefore, an ontology must adapt and represent both incremental change and revolutionary change, and the ontology can never be more than a partial agreement on the conceptualizations involved. Although examined in a rather unique technical domain, the general issues pertain to the control of any complex, distributed work system as well as the archival record of its accomplishments.

Wales, Roxana C.↗
NASA NTRS2004

Mixed-Initiative Planning and Scheduling for Science Missions

The objective of this joint NASA Ames/JPL/SRI project was to develop mixed-initiative planning and scheduling technology that would enable more effective and efficient planning of science missions. The original intent behind the project was to have all three organizations work closely on the overall research and technology development objectives. Shortly after the project began, however, the Ames and JPL project members made a commitment to develop and field an operational mixed-initiative planning and scheduling tool called MAPGEN for the 2003 Mars Exploration Rover (MER) mission [Ai-Chang et al. 2003]. Because of the tremendous amounts of time and effort that went into making that tool a success, the Ames and JPL personnel were mostly unavailable for collaboration on the joint objectives of the original proposal. Until November of 2002, SRI postponed work on the project in the hope that the Ames and JPL personnel would be able to find time for the planned collaborative research. During discussions between Dr. Karen Myers (the SRI institutional PI) and Dr. John Bresina (the project PI) during November of 2002, it was mutually agreed that SRI should work independently to achieve some of the research objectives for the project. In particular, Dr. Bresina identified explanation of plans and planner behavior as a critical area for research, based on feedback from demonstrating an initial prototype of MAPGEN to the operational community. For that reason, our focus from November of 2002 through the end of the project was on designing explanation methods to address this need.

Myers, Karen L.↗
NASA NTRS2004

Demonstrating Robotic Autonomy in NASA's Intelligent Systems Project

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).

Morris, Robert↗
NASA NTRS2005

Assessment of Mars Exploration Rover Landing Site Predictions

The Mars Exploration Rover (MER) landing sites in Gusev crater and Meridiani Planum were selected because they appeared acceptably safe for MER landing and roving and had strong indicators of liquid water. The engineering constraints critical for safe landing were addressed via comprehensive evaluation of surface and atmospheric characteristics from existing and targeted remote sensing data and models that resulted in a number of predictions of the surface characteristics of the sites, which are tested more fully herein than a preliminary assessment. Relating remote sensing signatures to surface characteristics at landing sites allows these sites to be used as ground truth for the orbital data and is essential for selecting and validating landing sites for future missions.

Golombek, M. P.↗
NASA NTRS2005

Composition of Meridiani Hematite-rich Spherules: A Mass-Balance Mixing-Model Approach

One of the great surprises of the Mars Exploration Rovers (MER) mission is the discovery at Meridiani Planum that the surface hematite signature observed from orbit is attributable largely to a surface enrichment of hematite-rich spherules, thought to be concretions, that have weathered out of rocks similar to the underlying sulfate-rich rock formation [1]. A strong hematite signature has been observed by the Mini-TES [2] and by in-situ measurements of spherule-rich targets by the Mossbauer spectrometer (MB) [3] and the alpha-particle X-ray spectrometer (APXS) [4]. The Mini-TES derived spectrum of spherule-rich targets on the plains is consistent with nearly pure coarse-grained hematite, with perhaps as little as 5-10 areal % of other components [2]. The occurrence and abundance of the spherules as the bearer of the widespread hematite signature observed by MGS TES over much of Meridiani Planum is significant for global remote sensing, and their occurrence as concretions in the outcrop lithology is significant for the diagenetic history and role of water in the formation of the sedimentary rock formation [5].

jOLLIFF, b. l.↗