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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 NTRS2005

MER : from landing to six wheels on Mars ... twice

Application of the Pathfinder landing system design to enclose the much larger Mars Exploration Rover required a variety of Rover deployments to achieve the surface driving configuration. The project schedule demanded that software design, engineering model test, and flight hardware build to be accomplished in parallel. This challenge was met through (a) bounding unknown environments against which to design and test, (b) early mechanical prototype testing, (c) constraining the scope of on-board autonomy to survival-critical deployments, (d) executing a balance of nominal and off-nominal test cases, (e) developing off-nominal event mitigation techniques before landing, (f) flexible replanning in response to surprises during operations. Here is discussed several specific events encountered during initial MER surface operations.

Mars Exploration Rover (MER)↗
NASA NTRS2006

A Strategy to Integrate Probabilistic Risk Assessment into Design and Development Processes for Aerospace Based pon Mars Exploration Rover Experiences

This paper will discuss the Probabilistic Risk Assessment (PRA) effort and its involvement with related activities during the development of the Mars Exploration Rover (MER). The Rovers were launched 2003.June.10 (Spirit) and 2003.July.7 (Opportunity), and both have proven very successful. Although designed for a 90-day mission, the Rovers have been operating for over two earth years. This paper will review aspects of how the MER project integrated PRA into the design and development process. A companion paper (Development of the Mars Exploration Rover PRA) will describe the MER PRA and design changes from those results.

Probabilistic Risk Assessment (PRA)↗
NASA NTRSDate not supplied

Metallic Environmentally Resistant Coating Rapid Innovation Initiative (MERCRII)

Mission concepts such as JPL’s Endurance-A utilize rovers such as Astrolab’s FLEX concept to explore the lunar surface. For these types of systems, lightweight alloys such as aluminum (Al) and titanium (Ti) are often specified to minimize mass while maintaining structural integrity. Such alloys, however, exhibit poor tribological response in the form of high friction and wear, especially in extreme space environments and with the additional presence of lunar regolith. This shortens the lifetimes of these systems which have a requirement to traverse 1,00km/year. This project is addressing the technology need of this and future rover missions by developing advanced wear- and radiation-resistant coatings for lightweight parts to extend the lifetime and sustainability of both lunar and Martian assets.

MISSE↗
NASA NTRS2003

Designing Facilities for Collaborative Operations

A methodology for designing operational facilities for collaboration by multiple experts has begun to take shape as an outgrowth of a project to design such facilities for scientific operations of the planned 2003 Mars Exploration Rover (MER) mission. The methodology could also be applicable to the design of military "situation rooms" and other facilities for terrestrial missions. It was recognized in this project that modern mission operations depend heavily upon the collaborative use of computers. It was further recognized that tests have shown that layout of a facility exerts a dramatic effect on the efficiency and endurance of the operations staff. The facility designs (for example, see figure) and the methodology developed during the project reflect this recognition. One element of the methodology is a metric, called effective capacity, that was created for use in evaluating proposed MER operational facilities and may also be useful for evaluating other collaboration spaces, including meeting rooms and military situation rooms. The effective capacity of a facility is defined as the number of people in the facility who can be meaningfully engaged in its operations. A person is considered to be meaningfully engaged if the person can (1) see, hear, and communicate with everyone else present; (2) see the material under discussion (typically data on a piece of paper, computer monitor, or projection screen); and (3) provide input to the product under development by the group. The effective capacity of a facility is less than the number of people that can physically fit in the facility. For example, a typical office that contains a desktop computer has an effective capacity of .4, while a small conference room that contains a projection screen has an effective capacity of around 10. Little or no benefit would be derived from allowing the number of persons in an operational facility to exceed its effective capacity: At best, the operations staff would be underutilized; at worst, operational performance would deteriorate. Elements of this methodology were applied to the design of three operations facilities for a series of rover field tests. These tests were observed by human-factors researchers and their conclusions are being used to refine and extend the methodology to be used in the final design of the MER operations facility. Further work is underway to evaluate the use of personal digital assistant (PDA) units as portable input interfaces and communication devices in future mission operations facilities. A PDA equipped for wireless communication and Ethernet, Bluetooth, or another networking technology would cost less than a complete computer system, and would enable a collaborator to communicate electronically with computers and with other collaborators while moving freely within the virtual environment created by a shared immersive graphical display.

Norris, Jeffrey↗
NASA NTRS1992

Space crew radiation exposure analysis system based on a commercial stand-alone CAD system

Major improvements have recently been completed in the approach to spacecraft shielding analysis. A Computer-Aided Design (CAD)-based system has been developed for determining the shielding provided to any point within or external to the spacecraft. Shielding analysis is performed using a commercially available stand-alone CAD system and a customized ray-tracing subroutine contained within a standard engineering modeling software package. This improved shielding analysis technique has been used in several vehicle design projects such as a Mars transfer habitat, pressurized lunar rover, and the redesigned Space Station. Results of these analyses are provided to demonstrate the applicability and versatility of the system.

Appleby, Matthew H.↗
NASA NTRS2015

Lander Technologies

Since 2006 NASA has been formulating robotic missions to the lunar surface through programs and projects like the Robotic Lunar Exploration Program, Lunar Precursor Robotic Program, and International Lunar Network. All of these were led by NASA Marshall Space Flight Center (MSFC). Due to funding shortfalls, the lunar missions associated with these efforts, the designs, were not completed. From 2010 to 2013, the Robotic Lunar Lander Development Activity was funded by the Science Mission Directorate (SMD) to develop technologies that would enable and enhance robotic lunar surface missions at lower costs. In 2013, a requirements-driven, low-cost robotic lunar lander concept was developed for the Resource Prospector Mission. Beginning in 2014, The Advanced Exploration Systems funded the lander team and established the MSFC, Johnson Space Center, Applied Physics Laboratory, and the Jet Propulsion Laboratory team with MSFC leading the project. The lander concept to place a 300-kg rover on the lunar surface has been described in the New Technology Report Case Number MFS-33238-1. A low-cost lander concept for placing a robotic payload on the lunar surface is shown in figures 1 and 2. The NASA lander team has developed several lander concepts using common hardware and software to allow the lander to be configured for a specific mission need. In addition, the team began to transition lander expertise to United States (U.S.) industry to encourage the commercialization of space, specifically the lunar surface. The Lunar Cargo Transportation and Landing by Soft Touchdown (CATALYST) initiative was started and the NASA lander team listed above is partnering with three competitively selected U.S. companies (Astrobotic, Masten Space Systems, and Moon Express) to develop, test, and operate their lunar landers.

Chavers, Greg↗
NASA NTRS1999

Navigation Strategy for the Mars 2001 Lander Mission

The MSP 2001 project will send an orbiter, a lander, and a rover to Mars in the 2001 opportunity. The lander will demonstrate precision landing at Mars by utilizing improved approach navigation and hypersonic aeromaneuvering.

Navigation↗
NASA NTRSDate not supplied

Dynamic Assurance of Autonomous Systems through Ground Control Software

Assurance cases are being increasingly acknowledged as a way to build trust in complex systems with autonomous capabilities [1]. An assurance case is a comprehensive, defensible, and valid justification that a system will function as intended for the specific mission and operating environment. Such justifications for systems with autonomous capabilities are often based on various probabilistic quantifications [2]. Due to the dynamic nature of the environmental conditions in which these systems operate, as well as the changing nature of the autonomous systems themselves, these probabilistic quantifications cannot be simply estimated once during design time. Rather, they need to be continually evaluated during systems operations to ensure that the assurance case justifications are valid. We refer to the assurance case that combines both the static and dynamic elements as a Dynamic Assurance Case (DAC). Such complex systems with autonomous capabilities are often deployed with a Ground Control Software (GCS) component to enable remote operation. Whether the system is composed of a single unit or a fleet of units, deployed distributed or in remote environments, GCS acts as a window into the behavior of the deployed system. It receives telemetry from the system, issues commands to the system and provides various functionalities to visualize the system performance. We propose a dynamic assurance framework where the GCS acts as a relay between the autonomous system and its DAC. GCS can be used to measure both unit-specific as well as system-wide probabilistic quantifications using the incoming telemetry. We embed these quantifications throughout the DAC as variables that can be updated by external sources. We use the GCS to periodically update these variables, which allows us to continually evaluate the formally defined assurance case justifications. We demonstrate our dynamic assurance framework in the NASA Ames project Troupe1 that aims at developing a fleet of rovers capable of au- tonomously mapping their environment. The rovers work cooperatively, each collecting data for different parts of the environment. Each rover runs an identical core Flight System (cFS) [4] application. Troupe1 uses OpenC3 Cosmos [5] as the ground system, and AdvoCATE [3] to capture the system DAC. We show how we can measure both rover-specific and system-wide quantifications in Cosmos using its Ruby scripting editor and pass them into the DAC modelled in AdvoCATE. Then, we show how these incoming variables can be embedded in different parts of the DAC and how effects of their updates can be observed

Irfan Sljivo↗
NASA NTRS2023

Subsurface Gravimetry Using Rover IMU Navigation Systems Data

Gravimetry is a valuable analytical tool for probing density distributions in the subsurface. Extraterrestrial data is currently limited to orbital collection, restricting spatial resolution to tens to hundreds of kilometers. Therefore, surface-based gravity surveys are necessary to study the gravity field and- lateral density variations at a finer scale. Traditional gravity sensors (gravimeters) are rare on science payloads owing to their relatively high mass, fragility, and cost. Inertial measurement units (IMU); however, are included on every rover platform to perform navigation and attitude determination. This project aims to solve this issue by demonstrating the utility in recalibrating the accelerometers contained within an IMU to measure the static acceleration of gravitational fields and, by extension, gravity anomalies induced by subsurface density variations.

Chandler Lawson↗
NASA NTRSDate not supplied

The Troupe System: an Autonomous Multi-Agent Rover Swarm

Autonomous cooperative robotic systems are the future of space exploration. The complexity of such systems makes their development, verification and assurance challenging. The Robust Software Engineering group at NASA Ames has developed the Troupe project that aims to explore the design and development of a swarm of autonomous rovers tasked to perform autonomous exploration and mapping of an unknown terrain. In this paper, we showcase the system design, and accompanying verification and validation tools integrated in the Troupe system development life-cycle.

TROUPE↗
NASA NTRS2020

Investigating Relationships Between Geochemistry and Physical Grain Characteristics Along a Glacio-Fluvial-Aeolian Sediment Transport Pathway Using µXRF

Iceland’s basaltic volcanic rocks and glacial, fluvial, and aeolian landscapes resemble those studied on Mars, which makes it an ideal location to study the evolution of basaltic landscapes, the weathering and alteration of basaltic sediments in cold and wet environments, and the generation of a basaltic sedimentary record. The SAND-E: Semi-Autonomous Navigation for Detrital Environments project examines physical and chemical changes in sediments transported through basaltic fluvial and aeolian environments, and tests operational scenarios, which include a drone and a robotic rover instrumented with autonomous terrain analysis software. As part of the SAND-E project, we examined a glacial outwash plain at Skjaldbreiðauhraun, in SW Iceland. This study uses micro X-ray fluorescence (μXRF) to examine the chemical and physical properties of unconsolidated sediment-size fractions from 710 μm to < 63 μm along a downstream transect from a glacial sourced watershed. μXRF is ideally suited for this task because it maps elemental distributions at sub-grain scales thereby allowing a direct correlation between grainsize, grain shape, and chemistry. It is also a good analog technique for the Mars 2020 mission equipped with the PIXL (Planetary Instrument for X-ray Lithochemistry) that will be deployed at Jezero Crater, Mars.

Champion, E.↗
NASA NTRS2015

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

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

Human Mars Missions↗
NASA NTRS1994

Terrain modelling and motion planning for an autonomous exploration rover

To assess the feasibility of planetary exploration missions using rovers, the French national agency CNES, with a consortium of European laboratories and industrial concerns, has initiated the Eureka project, 'Illustration of an Autonomous Robot for the Exploration of Space' (IARES). IARES is a demonstrator composed of a rover and a ground station, linked by telemetry and telecommand. It is aimed at verifying, on earth, robotic concepts developed by the RISP group of French laboratories (LAAS, INRIA, CERT, LETI) to perform scientific missions such as autonomous terrain sample collecting over large areas. To cope with the actual needs of planet exploration, IARES suitability is assessed through constraints on limited bandwidth, time delay and on-board resources. This autonomy relies heavily on robust onboard trajectory generation capabilities. This paper presents the main functions of the IARES navigation sub-system and shows how they are combined to allow movement in Mars-like environments. Section 2 gives an overall description of the IARES system. Section 3 details the functions of the Navigation sub-system, and finally, section 4 illustrates with a simple example the use of these functions.

Richard, F.↗
NASA NTRS2006

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

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

mission operations↗
NASA NTRS2006

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

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

Mars exploration↗
NASA NTRS2015

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

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.

Internship↗
NASA NTRSDate not supplied

Metallic Environmentally Resistant Coating Rapid Innovation Initiative Under Extreme Space Environments

Mission concepts such as JPL’s Endurance-A campaign will utilize rovers such as Astrolab’s FLEX concept to explore the lunar surface. For these types of systems, lightweight alloys such as aluminum (Al) and titanium (Ti) are often specified to minimize mass while maintaining structural integrity [1,2,3]. Such alloys, however, exhibit poor tribological response in the form of high friction and wear, especially in extreme space environments and with the additional presence of lunar regolith. This shortens the lifetimes of these systems which have a requirement to traverse 1,00km/year [2,3]. The MERCRII project is ad-dressing the technology need of this and future rover missions by developing advanced wear- and radiation-resistant coatings for lightweight parts to extend the lifetime and sustainability of both lunar and Martian assets. The MERCRII project focuses on the technology taxonomies of exploration destination systems, mission infrastructure, and sustainability and supportability to explore both new and existing coating technologies, including material formulations and application methods. Several material formulations were considered for their wear resistance and fracture toughness and the following were chosen for Phase I testing: Nickle Titani-um (NiTi), Aluminum Oxide (AlO), and Ti64 with hBN at two and ten vol percent (Ti-2vol%hBN and Ti-10vol%hBN).

S. Rengifo↗
NASA NTRS1999

Robotic Rock Classification

This report describes a three-month research program undertook jointly by the Robotics Institute at Carnegie Mellon University and Ames Research Center as part of the Ames' Joint Research Initiative (JRI.) The work was conducted at the Ames Research Center by Mr. Liam Pedersen, a graduate student in the CMU Ph.D. program in Robotics under the supervision Dr. Ted Roush at the Space Science Division of the Ames Research Center from May 15 1999 to August 15, 1999. Dr. Martial Hebert is Mr. Pedersen's research adviser at CMU and is Principal Investigator of this Grant. The goal of this project is to investigate and implement methods suitable for a robotic rover to autonomously identify rocks and minerals in its vicinity, and to statistically characterize the local geological environment. Although primary sensors for these tasks are a reflection spectrometer and color camera, the goal is to create a framework under which data from multiple sensors, and multiple readings on the same object, can be combined in a principled manner. Furthermore, it is envisioned that knowledge of the local area, either a priori or gathered by the robot, will be used to improve classification accuracy. The key results obtained during this project are: The continuation of the development of a rock classifier; development of theoretical statistical methods; development of methods for evaluating and selecting sensors; and experimentation with data mining techniques on the Ames spectral library. The results of this work are being applied at CMU, in particular in the context of the Winter 99 Antarctica expedition in which the classification techniques will be used on the Nomad robot. Conversely, the software developed based on those techniques will continue to be made available to NASA Ames and the data collected from the Nomad experiments will also be made available.

Hebert, Martial↗