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NASA NTRSDate not supplied

Improved Aerothermal Reliability Analysis Enabled by the Mars Sample Return Earth Entry System Aerothermal Database

The Mars Sample Return (MSR) campaign is a series of missions designed to retrieve Martian rock and soil samples for detailed study on Earth. The campaign is split into three primary phases: sample collection with the Mars2020 rover, retrieval with the Sample Return Lander (SRL) and Mars Ascent Vehicle (MAV), and then return to Earth with the Earth Return Orbiter (ERO) and Capture, Containment, and Return System (CCRS) [1]. The final sequence in the Earth return phase is the delivery and entry of the Earth Entry System (EES) sample return capsule. Due to unprecedented planetary protection concerns, the sample return capsule is subject to strict reliability requirements. To this end, the MSR-EES aerothermal team has implemented a flexible aerothermal database architecture capable of integration with state-of-the-art trajectory codes to provide a more rigorous aerothermal reliability analysis. The EES database enables the generation of environments at any location on the heatshield and can incorporate trajectory uncertainties to both statistically quantify aerothermal environments for arcjet testing and produce material response boundary conditions to rigorously select thermal protection system (TPS) sizing environments. This poster will not discuss the fundamental modeling assumptions included in the database, and will instead focus on the downstream reliability analyses that can be performed with a database of this architecture.

MSR-EES↗
NASA NTRS2022

Electrical Ground Support Equipment for the Sampling Caching System of the Mars 2020 Rover

In this work we describe in detail the architecture, design, testing and operation of the Electrical Ground Support Equipment (EGSE) “Blue Box” used to test and validate the Sampling Caching System (SCS) of the Mars 2020 Perseverance rover. The Blue Box architecture is centered around COTS motor controllers and COTS input-output modules communicating over an EtherCAT bus. A custom, low-level safety subsystem ensures no harm can be done to the flight articles. The modular architecture of the EGSE reduces cost and complexity while expediting assembly time. The Blue Box drives the 19 actuators of the SCS which span the main robotic arm, the corer system, the internal sample handling arm, the sample tube sealing system and the gas dust removal tool; mimicking the Rover Motor Control Assembly (RMCA). Due to the limited availability of RMCA’s, the EGSE enabled and performed the bulk of testing activities for SCS. The majority of the SCS actuators are composed of a 3-phase DC brushless motors, hall sensors for commutation, dual resolvers for output angular measurement, brakes, heaters and platinum thermistors. Additionally, the EGSE read 12 strain gauges forming part of a force torque sensor, and switches used for external positioning references. Over the 3-year span of the V&V campaign for the SCS, over 32 EGSE systems were built, tested and deployed to test venues at JPL and externally. The EGSE tested several families of the SCS subsystem, ranging from engineering units, life test units and two flight units. Test venues that this EGSE supported included lab benches, ultra-clean cleanrooms, ATLO facilities, and thermal vacuum chambers. Together with the test software systems, SSDEV and SSDEV-ECAT, the Blue Box EGSE enabled the team to efficiently test flight hardware and flight software together. We go over the safety features and fault management techniques employed to protect flight hardware. The effects of the long, 50-feet, EGSE harnesses on motor performance, EMI, electrical noise, and motor control performance are explained. Mitigations to these unwanted effects, including shielding strategy and inductance compensation, are summarized. We go over an excerpt of notable anomalies that this EGSE suffered through its operation, along with investigations and resolutions. Lessons learned, areas of improvement as part of future work, and recommendations for future implementations for similar EGSE’s, are shared.

Levine, Dan↗
NASA NTRS2010

The Proposed Mars Astrobiology Explorer - Cacher [MAX-C] Rover: First Step in a Potential Sample Return Campaign

Sample return from Mars has been advocated by numerous scientific advisory panels for over 30 years, most prominently beginning with the National Research Council s [1] strategy for the exploration of the inner solar system, and most recently by the Mars Exploration Program Analysis Group (MEPAG s) Next Decade Science Analysis Group [2]. Analysis of samples here on Earth would have enormous advantages over in situ analyses in producing the data quality needed to address many of the complex scientific questions the community has posed about Mars. Instead of a small, predetermined set of analytical techniques, state of the art preparative and instrumental resources of the entire scientific community could be applied to the samples. The analytical emphasis could shift as the meaning of each result becomes better appreciated. These arguments apply both to igneous rocks and to layered sedimentary materials, either of which could contain water and other volatile constituents. In 2009 MEPAG formed the Mid-Range Rover Science Analysis Group (MRR-SAG) to formulate a mission concept that would address two general objectives: (1) conduct high-priority in situ science and (2) make concrete steps towards the potential return of samples to Earth. This analysis resulted in a mission concept named the Mars Astrobiology Explorer-Cacher (MAX-C), which was envisioned for launch in the 2018 opportunity. After extensive discussion, this group concluded that by far the most definitive contribution to sample return by this mission would be to collect and cache, in an accessible location, a suite of compelling samples that could potentially be recovered and returned by a subsequent mission. This would have the effect of separating two of the essential functions of MSR, the acquisition of the sample collection and its delivery to martian orbit, into two missions.

Allen, Carlton C.↗
NASA NTRS1990

United States planetary rover status: 1989

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

Pivirotto, Donna L. S.↗
NASA NTRS2020

High-temperature Hydrogen Chloride Releases from Mixtures of Sodium Chloride with Sulfates: Implications for the Chlorine-Mineralogy as Determined by the Sample Analysis at Mars Instrument on the Curiosity Rover in Gale Crater, Mars

Hydrogen chloride releases above 500 °C occurred in several samples analyzed by the Sample Analysis at Mars (SAM) evolved gas analyzer on the Curiosity rover in Gale crater. These have been attributed to reactions between chlorides (original or from oxychlorine decomposition) and water. Some of these HCl releases that peaked below the melting temperature of common chlorides did not co-evolve with oxygen or water, and were not explained by laboratory analog work (Figure 1). Therefore, these HCl releases were not caused by MgCl2 or soley due to reactions between water and melting chlorides. The goal of this work was to explain the HCl releases that did not co-evolve with oxygen or water and occurred below the melting point of common chlorides, which have not been explained by previous laboratory analog work. This work specifically evaluates the role of evolved SO2 in the production of HCl.

Clark, J.V.↗
NASA NTRS2017

Thermal Development of the Mars 2020 Enhanced Engineering Cameras

The engineering cameras (ECAMs) of the 2003 Mars Exploration Rover (MER) mission were re-flown on the Mars Science Laboratory (MSL) mission that launched in 2011. The upcoming Mars 2020 rover mission will introduce a new fleet of cameras called the enhanced engineering cameras (EECAMs). These EECAMs will have improved imaging capability, as the technology of the past ECAMs flown on Mars surface missions have become outdated. The EECAMs include six upgraded HazCams, two upgraded NavCams, and a single, newly-conceived CacheCam. The purposes of the HazCams and NavCams remain the same as they were for MER and MSL: to detect hazards to the front and rear of the rover, and to help in navigation across the Martian surface. The CacheCam will be used to take images of samples obtained by the rover’s Sample Caching System. This paper compares the differences in the thermal designs of the ECAMs and EECAMs, their design drivers, and their implications for the mission operations of the Mars 2020 rover.

Novak, Keith S.↗
NASA NTRS2020

First Detections of Dichlorobenzene Isomers and Trichloromethylpropane from Organic Matter Indigenous to Mars Mudstone in Gale Crater, Mars: Results from the Sample Analysis at Mars Instrument Onboard the Curiosity Rover

Chromatographic analysis of the Cumberland mudstone in Gale crater by the Sample Analysis at Mars (SAM) instrument revealed the detection of two to three isomers of dichlorobenzene. Their individual concentrations were estimated to be in the 0.5–17 ppbw range relative to the sample mass. We also report the first detection of trichloromethylpropane and the confirmation of the detection of chlorobenzene previously reported. Supporting laboratory experiments excluded the SAM internal background as the source of those compounds, thus confirming the organic carbon and chlorine of the newly detected chlorohydrocarbons are indigenous to the mudstone sample. Laboratory experiments also demonstrated that the chlorohydrocarbons were mainly produced from chemical reactions occurring in the SAM ovens between organic molecules and oxychlorines contained in the sample. The results we obtained show that meteoritic organics and tested chemical species (a polycyclic aromatic hydrocarbon, an amino acid, and a carboxylic acid) were plausible organic precursors of the chlorinated aromatic molecules detected with SAM, thus suggesting that they could be among the organic molecules present in the mudstone. Results from this study coupled with previously reported detections of chlorinated aromatics (<300 ppbw) indigenous to the same mudstone highlight that organics can be preserved from the harsh surface conditions even at shallow depth. The detection of new chlorohydrocarbons with SAM confirms that organic molecules should have been available in an environment favorable to life forms, strengthening the habitability aspect of Gale crater. Key Words: Mars—Chlorinated organic molecules—In situ measurements—Sample Analysis at Mars— Mudstone—Gale crater. Astrobiology 20, 292–306.

Szopa, Cyril↗
NASA NTRS2012

Near-Infrared (NIR) Raman Spectroscopy of Precambrian Carbonate Stromatolites with Post-Depositional Organic Inclusions

Raman spectroscopy has promising potential for future Mars missions as a non-contact detection technique for characterizing organic material and mineralogy. Such a capability will be useful for selecting samples for detailed analysis on a rover and for selecting samples for return to Earth. Stromatolites are important evidence for the earliest life on Earth and are promising targets for Mars investigations. Although constructed by microorganisms, stromatolites are organo-sedimentary structures that can be large enough to be discovered and investigated by a Mars rover. In this paper, we report the Raman spectroscopic investigations of the carbonate mineralogy and organic layering in a Precambrian (;1.5 Gyr old) stromatolite from the Crystal Spring Formation of Southern California. Ultraviolet (UV: 266 nm), visible (514 nm, 633 nm), and near-infrared (NIR: 785 nm, 1064 nm) Raman spectra are presented. We conclude that 1064 nm excitation is the optimal excitation wavelength for avoiding intrinsic fluorescence and detecting organic carbon within the carbonate matrix. Our results confirm that NIR Raman spectroscopy has important applications for future Mars missions.

Tanaka, Zuki↗
NASA NTRS2013

FE Simulation of SMA Seal for Mars Sample Return

Several NASA rovers and landers have been on Mars and performed successful in-situ exploration. Returning Martian samples to Earth for extensive analysis is of great interest to the planetary science community. Current Mars sample return architecture would require leaving the acquired samples on Mars for years before being retrieved by subsequent mission. Each sample would be sealed securely to keep its integrity. A reliable seal technique that does not affect the integrity of the samples and uses a simple low-mass tool is required. The shape memory alloy (SMA) seal technique is a promising candidate. A study of the thermal performances of several primary designs of a SMA seal for sample tubes by finite element (FE) simulation are presented in this paper. The results show sealing the sample tube by SMA plugs and controlling the sample temperature below the allowed temperature level are feasible.

seal↗
NASA NTRS2024

Key Perseverance Sampling Locations for the Ancient Martian Crust and Implications for Mars Science

Since Feb 2021, the Perseverance rover has collected samples in the Jezero crater. The plan baselined at the 2018 landing site selection, subsequently further developed by the Mars-2020 team, and presented to the Decadal Survey included the exploration and sampling of the Jezero crater rim and the Nili Planum area, a rock record that is important to preserving the science return of the endeavor. Specifically, the science team identified the following prioritized science objectives aligned with community objectives that are not covered by the current sample cache: 1) Investigate the habitable environments with potential biosignatures from a more ancient time interval and from a diverse set of geological environments (incl. exposed subsurface) than the Jezero crater sedimentary deposits (Fig. 2). (2) Determine radioisotopic ages for well-defined craterretaining surfaces and/or the Isidis basin impact event. (3) Characterize ancient aqueous environments to study climate, environmental transitions, and habitability on ancient Mars. (4) Investigate planetary accretion, crustal evolution, and dynamo activity through analysis and sampling of igneous lithologies. (5) Study the geology of basin-forming impacts. In addition, for the Jezero rim and any Jezero ejecta: (6) Analyze Jezero impactites for potentially habitable hydrothermal environments and radioisotopic dating of the Jezero crater formation. From 2018 to now, we used a combination of High Resolution Imaging Experiment (HiRISE) and Compact Reconnaissance Imaging Spectrometer for Mars (CRISM) data to further characterize Jezero rim and Nili Planum, culminating in our prioritized sample location recommendations: (1) Monument Valley and (2) Northwest Jezero rim.

Mars sample return↗
NASA NTRS2000

Cooperative Robotics and the Search for Extraterrestrial Life

If we think tenuous abodes of life may be hiding in remote extraterrestrial environmental niches, and if we want to assess the biological status of a given locale or entire planet before sending humans (perhaps because of contamination concerns or other motivations) then we face the challenge of robotically exploring a large space efficiently and in enough detail to have confidence in our assessment of the biological status of the environment in question. On our present schedule of perhaps two or so missions per opportunity, we will likely need a different exploratory approach than singular stationary landers or singular rover missions or sample return, because there appear to be fundamental limitations in these mission profiles to-obtain the many samples we will likely need if we want to have confidence in assessing the biological status of an environment in which life could be hiding in remote environmental niches. Singular rover missions can potentially accommodate sampling over a fairly large area, but are still limited by range and can be a single point of failure. More importantly, such mission profiles have limited payload capabilities which are unlikely to meet the demanding requirements of life-detection. Sample return has the advantage of allowing sophisticated analysis of the sample, but also has the severe limitations associated with only being able to bring back a few samples. This presentation will suggest two cooperative robotic approaches for exploration that have the potential to overcome these difficulties and facilitate efficient and thorough life-detecting exploration of a large space. Given the two premises state above, it appears at least two fundamental challenges have to be met simultaneously: coverage of a large space and bringing to bear a sophisticated suite of detection and experimental payloads on any specific location in order to address a major challenge in looking for extraterrestrial life: namely, executing a wide variety of detection scenarios and in situ experiments in order to gather the required data for a confident assessment that life has been detected and to, more generally, cover a wide range of extraterrestrial life possibilities. Cooperative robotics ]ends itself to this kind of problem because cooperation among the combined capabilities of a variety of simple single function agents can give rise to fairly complex task execution such as the search for and detection of extraterrestrial life.

Lupisella, Mark L.↗
NASA NTRS2000

Cooperative Robotics and the Search for Extraterrestrial Life

If we think tenuous abodes of life may be hiding in remote extraterrestrial environmental niches, and if we want to assess the biological status of a given locale or entire planet before sending humans (perhaps because of contamination concerns or other motivations) then we face the challenge of robotically exploring a large space efficiently and in enough detail to have confidence in our assessment of the biological status of the environment in question. On our present schedule of perhaps two or so missions per opportunity, we will likely need a different exploratory approach than singular stationary landers or singular rover missions or sample return, because there appear to be fundamental limitations in these mission profiles to obtain the many samples we will likely need if we want to have confidence in assessing the biological status of an environment in which life could be hiding in remote environmental niches. Singular rover missions can potentially accommodate sampling over a fairly large area, but are still limited by range and can be a single point of failure. More importantly, such mission profiles have limited payload capabilities which are unlikely to meet the demanding requirements of life-detection. Sample return has the advantage of allowing sophisticated analysis of the sample, but also has the severe limitations associated with only being able to bring back a few samples. This presentation will suggest two cooperative robotic approaches for exploration that have the potential to overcome these difficulties and facilitate efficient and thorough life-detecting exploration of a large space. Given the two premises stated above, it appears at least two fundamental challenges have to be met simultaneously: (1) coverage of a large space and (2) bringing to bear a sophisticated suite of detection and experimental payloads on any specific location in order to address a major challenge in looking for extraterrestrial life: namely, executing a wide variety of detection scenarios and in situ experiments in order to gather the required data for a confident assessment that life has been detected and to, more generally, cover a wide range of extraterrestrial life possibilities. Cooperative robotics lends itself to this kind of problem because cooperation among the combined capabilities of a variety of simple single function agents can give rise to fairly complex task execution such as the search for and detection of extraterrestrial life.

Lupisella, M. L.↗
NASA NTRSDate not supplied

Field Geologic Mapping of Sample Sites From the Ground and the Air With Perseverance Rover and Ingenuity Helicopter

One of the primary mission goals for Perseverance is to determine the geologic context of sample sites. Rover-based (in situ) or field geologic context mapping (GXM) based on Perseverance rover and Ingenuity helicopter observations provides a nearly continuous record of geologic context and exposed surface structure over a 120 m-wide corridor along the traverse of Perseverance and the flight path of Ingenuity. Field geologic mapping along the traverse and flight path and outcrop-scale mapping at sample sites provides a spatial dimension to ground truth geologic, stratigraphic, and modern environmental context for samples at scales relevant to sample interpretation. Here we provide an abbreviated overview of field mapping as it relates to documenting the architecture of the Jezero fan and geologic context of several examples of sample locations.

Mars 2020↗
NASA NTRS2012

Mars Technology Rover with Arm-Mounted Percussive Coring Tool, Microimager, and Sample-Handling Encapsulation Containerization Subsystem

A report describes the PLuto (programmable logic) Mars Technology Rover, a mid-sized FIDO (field integrated design and operations) class rover with six fully drivable and steerable cleated wheels, a rocker-bogey suspension, a pan-tilt mast with panorama and navigation stereo camera pairs, forward and rear stereo hazcam pairs, internal avionics with motor drivers and CPU, and a 5-degrees-of-freedom robotic arm. The technology rover was integrated with an arm-mounted percussive coring tool, microimager, and sample handling encapsulation containerization subsystem (SHEC). The turret of the arm contains a percussive coring drill and microimager. The SHEC sample caching system mounted to the rover body contains coring bits, sample tubes, and sample plugs. The coring activities performed in the field provide valuable data on drilling conditions for NASA tasks developing and studying coring technology. Caching of samples using the SHEC system provide insight to NASA tasks investigating techniques to store core samples in the future.

Younse, Paulo J.↗
NASA NTRS2019

Thermal testing of a Mars 2020 enhanced engineering camera

The upcoming Mars 2020 rover mission is introducing a new generation of engineering cameras (ECAMs) called the enhanced engineering cameras (EECAMs), which have advanced imaging capability over the previous ECAMs used on the Spirit, Opportunity, and Curiosity rovers. The Mars 2020 rover will have nine EECAMs – six upgraded HazCams used for hazard avoidance, two upgraded NavCams used for navigation, and a single CacheCam used to take images of samples obtained by the rover’s Sampling and Caching Subsystem (SCS). The detailed EECAM design was completed in April 2017, and since then the EECAM Subsystem has been in the process of fabrication, integration, and testing. This paper describes two thermal tests that were done for thermal model correlation and validation of the EECAM thermal design during Mars surface operations.

Novak, Keith S.↗
NASA NTRS2017

X-Ray Computed Tomography: The First Step in Mars Sample Return Processing

The Mars 2020 rover mission will collect and cache samples from the martian surface for possible retrieval and subsequent return to Earth. If the samples are returned, that mission would likely present an opportunity to analyze returned Mars samples within a geologic context on Mars. In addition, it may provide definitive information about the existence of past or present life on Mars. Mars sample return presents unique challenges for the collection, containment, transport, curation and processing of samples [1] Foremost in the processing of returned samples are the closely paired considerations of life detection and Planetary Protection. In order to achieve Mars Sample Return (MSR) science goals, reliable analyses will depend on overcoming some challenging signal/noise-related issues where sparse martian organic compounds must be reliably analyzed against the contamination background. While reliable analyses will depend on initial clean acquisition and robust documentation of all aspects of developing and managing the cache [2], there needs to be a reliable sample handling and analysis procedure that accounts for a variety of materials which may or may not contain evidence of past or present martian life. A recent report [3] suggests that a defined set of measurements should be made to effectively inform both science and Planetary Protection, when applied in the context of the two competing null hypotheses: 1) that there is no detectable life in the samples; or 2) that there is martian life in the samples. The defined measurements would include a phased approach that would be accepted by the community to preserve the bulk of the material, but provide unambiguous science data that can be used and interpreted by various disciplines. Fore-most is the concern that the initial steps would ensure the pristine nature of the samples. Preliminary, non-invasive techniques such as computed X-ray tomography (XCT) have been suggested as the first method to interrogate and characterize the cached samples without altering the materials [1,2]. A recent report [4] indicates that XCT may minimally alter samples for some techniques, and work is needed to quantify these effects, maximizing science return from XCT initial analysis while minimizing effects.

Welzenbach, L. C.↗
NASA NTRSDate not supplied

Mars Sample Return: Considerations for the Curation of Astromaterials from a Restricted Planet

The joint NASA/ESA Mars Sample Return (MSR) campaign is underway. The Perseverance Rover has already collected a returnable sample suite currently cached at Three Forks and the pairs to these samples are stored on the Rover with more compelling samples planned to be collected. The MSR collection would represent the most geologically diverse astromaterial collection ever returned and should provide information on topics ranging from Martian geological and biological history to Martian environmental hazards and in situ resource utilization to support potential human exploration. Although Jezero Crater and the surrounding area are not Mars special regions, the scientific opinion is that Mars as a whole is of significant interest to the process of chemical evolution and/or the origin of life. Therefore, due to possibility, however remote, that the samples could contain extraterrestrial life, MSR is classified as a Category V: Restricted Earth Return mission by the NASA Planetary Protection Office. As a result of this classification, a MSR Sample Receiving Facility (SRF) must not only provide a pristine environment to ensure samples are protected from terrestrial contamination for scientific investigations, but it must also provide high-containment to isolate the samples from Earth’s biosphere until the samples are deemed safe for release and/or sterilized.

Mars Sample Return↗