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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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At least 253 records · Page 14
All sourcesNASA NTRSDOE OSTI
NASA NTRS2008

Visual Target Tracking on the Mars Exploration Rovers

Visual target tracking (VTT) software has been incorporated into Release 9.2 of the Mars Exploration Rover (MER) flight software, now running aboard the rovers Spirit and Opportunity. In the VTT operation (see figure), the rover is driven in short steps between stops and, at each stop, still images are acquired by actively aimed navigation cameras (navcams) on a mast on the rover (see artistic rendition). The VTT software processes the digitized navcam images so as to track a target reliably and to make it possible to approach the target accurately to within a few centimeters over a 10-m traverse.

Kim, Won↗
NASA NTRS2003

Optomechanical Design of Ten Modular Cameras for the Mars Exploration Rovers

This viewgraph presentation reviews the design and fabrication of the modular cameras for the Mars Exploration Rovers. In the 2003 mission there were to be 2 landers and 2 rovers, each were to have 10 cameras each. Views of the camera design, the lens design, the lens interface with the detector assembly, the detector assembly, the electronics assembly are shown.

cameras↗
NASA NTRS2005

Climate Change from the Mars Exploration Rover Landing Sites: From Wet in the Noachian to Dry and Desiccating Since the Hesperian

Mars Exploration Rover Opportunity discovered sedimentary dirty evaporites in Meridiani Planum that were deposited in salt-water playas or sabkhas in the Noachian, roughly coeval with a variety of geomorphic indicators (valley networks, degraded craters and highly eroded terrain) of a possible early warmer and wetter environment. In contrast, the cratered plains of Gusev that Spirit has traversed (exclusive of the Columbia Hills) have been dominated by impact and eolian processes and a gradation history that argues for a dry and desiccating environment since the Late Hesperian. This paper reviews the surficial geology and gradation history of the plains in Gusev crater as observed along the traverse by Spirit that supports this climate change from the two landing sites on Mars.

Golombek, M. P.↗
NASA NTRS2006

Chemical Composition by the APXS along the Downhill Traverse of the Mars Exploration Rover Spirit at Gusev Crater

The Alpha Particle X-ray Spectrometer (APXS) onboard the Mars Exploration Rover Spirit continues to determine the elemental composition of samples at Gusev Crater. Starting around sol 600 the rover descended Husband Hill, which is part of the Columbia Hills, visited the inner basin with a large dune field, called 'El Dorado', and parked at Low Ridge to conserve energy during the martian winter. Many unique samples were discovered by the instruments onboard Spirit during her downhill traverse. Here, we report only on the chemical data obtained by the APXS. The compositions of some of the soil samples are comparable to the mean soil determined along the earlier traverse. However, a light-toned subsurface sample (disturbed by the rover wheels), called Dead Sea Samra , showed the highest sulfur content of all soil samples, the lowest Na, Mg, Al, Cl, K, Ca, Ti, Mn, and Zn, among the lowest Si and P, and among the highest Cr, Fe and Ni. Assuming ferric sulfate as a major mineral, large amounts of a pure silica phase must be present. Color and quantity of Dead Sea Samra resemble somewhat an earlier soil called Paso Robles , though the latter is a mixture of sulfates with phosphate-rich soil. Manganese in Dead Sea Samra is so low that the Fe/Mn ratio exceeds 300, a value that has never been found previously on Mars (Fe/Mn ratio of 46 for Gusev basalts), indicating that only Fe(3+) occurs. The dune field El Dorado contained granulated material that exhibited the highest Mg and Ni concentrations and the lowest S and Cl compared to all other soils implying an enrichment of olivine-rich sands. Two outcrops, called Algonquin and Comanche , revealed compositions that differ significantly from those of earlier outcrops as they have the highest concentrations of Mg, Fe, and Ni (except for Ni in Independence) and the lowest of Al, K (detection limit), Ca, and Ti of all brushed and almost all abraded rocks. Normative estimates assign them the highest olivine contents ever found for martian rocks and a very mafic nature based on their high Mg/(Mg+Fe) and low Al, Ca and Na. Their significantly high Ni contents point to a different source than the Gusev plains basalts. The elemental compositions of samples encountered during the downhill traverse revealed a larger chemical diversity of the Columbia Hills than the uphill trek already published.

Bruckner, J.↗
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

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 NTRS2011

Mars Exploration Rover Heatshield Observation Campaign

For the first time ever, engineers were able to observe a heatshield on the surface of another planet after a successful entry through the atmosphere. A three-week heatshield observation campaign was conducted in December 2004 after the Mars Exploration Rover Opportunity exited "Endurance Crater." By utilizing the rover's scientific instruments, data was collected to make a qualitative assessment of the performance of the heatshield. This data was gathered to gain a better understanding of how the heatshield performed during entry through the Martian atmosphere. In addition, this unprecedented look at the heatshield offered engineers the opportunity to assess if any unexpected anomalies occurred. Once a survey of the heatshield debris was completed, multiple targets of interest were chosen for the collection of imaging data. This data was then used to assess the char depth of the thermal protection material, which compared well with design and post-flight computational predictions. Extensive imaging data was collected and showed the main seal in pristine conditions, and no observable indications of structure overheating. Additionally, unexpected vehicle dynamics during the atmospheric entry were explained by the observation of thermal blanket remnants attached to the heatshield.

Mars Exploration Rovers↗
NASA NTRS2011

Mars Exploration Rover Heatshield Observation Campaign

For the first time ever, engineers were able to observe a heatshield on the surface of another planet after a successful entry through the atmosphere. A three-week heatshield observation campaign was conducted in December 2004 after the Mars Exploration Rover Opportunity exited "Endurance Crater." By utilizing the rover's scientific instruments, data was collected to make a qualitative assessment of the performance of the heatshield. This data was gathered to gain a better understanding of how the heatshield performed during entry through the Martian atmosphere. In addition, this unprecedented look at the heatshield offered engineers the opportunity to assess if any unexpected anomalies occurred. Once a survey of the heatshield debris was completed, multiple targets of interest were chosen for the collection of imaging data. This data was then used to assess the char depth of the thermal protection material, which compared well with design and post-flight computational predictions. Extensive imaging data was collected and showed the main seal in pristine conditions, and no observable indications of structure overheating. Additionally, unexpected vehicle dynamics during the atmospheric entry were explained by the observation of thermal blanket remnants attached to the heatshield.

Thermal Protection System (TPS)↗
NASA NTRS2007

Improved Path Planning Onboard the Mars Exploration Rovers

A revised version of the AutoNav (autonomous navigation with hazard avoidance) software running onboard each Mars Exploration Rover (MER) affords better obstacle avoidance than does the previous version. Both versions include GESTALT (Grid-based Estimation of Surface Traversability Applied to Local Terrain), a navigation program that generates local-terrain models from stereoscopic image pairs captured by onboard rover cameras; uses this information to evaluate candidate arcs that extend across the terrain from the current rover location; ranks the arcs with respect to hazard avoidance, minimization of steering time, and the direction towards the goal; and combines the rankings in a weighted vote to select an arc, along which the rover is then driven. GESTALT works well in navigating around small isolated obstacles, but tends to fail when the goal is on the other side of a large obstacle or multiple closely spaced small obstacles. When that occurs, the goal seeking votes and hazard avoidance votes conflict severely. The hazard avoidance votes will not allow the rover to drive through the unsafe area, and the waypoint votes will not allow enough deviation from the straight-line path for the rover to get around the hazard. The rover becomes stuck and is unable to reach the goal. The revised version of AutoNav utilizes a global path-planning program, Field D*, to evaluate the cost of traveling from the end of each GESTALT arc to the goal. In the voting process, Field D* arc votes supplant GESTALT goal-seeking arc votes. Hazard avoidance, steering bias, and Field D* votes are merged and the rover is driven a preset distance along the arc with the highest vote. Then new images are acquired and the process as described is repeated until the goal is reached. This new technology allows the rovers to autonomously navigate around much more complex obstacle arrangements than was previously possible. In addition, this improved autonomy enables longer traverses per Sol (a day on Mars), and can make planning drives easier for operators on Earth.

Stentz, Anthony↗
NASA NTRS2005

Working on Mars: Understanding How Scientists, Engineers and Rovers Interacted Across Space and Time during the Mars Exploration Rover (MER) Mission

This viewgraph presentation summarizes the scheduling and planning difficulties inherent in operating the Mars Exploration Rovers (MER) during the overlapping terrestrial day and Martian sol. The presentation gives special empahsis to communication between the teams controlling the rovers from Earth, and keeping track of time on the two planets.

Wales, Roxana C.↗
NASA NTRS2005

The Mars Exploration Rover Cameras: A Status Report

With more than 68,000 images returned from the surface of Mars to date, the Mars Exploration Rover (MER) camera suite continues to perform extremely well. Image signal to noise ratios (SNRs) are greater than 200:1, flat fields remain stable, and single-pixel degradation has been negligible. Acting as the eyes of the robotic field geologists, the 18 MER cameras continue to play a leading role in major scientific findings at both Gusez Crater and Meridiana Planum. All 4 types of cameras, the hazard avoidance (Hazcam), navigation (Navcam), the color panoramic (Pancam) and the microscopic imager (MI), continue to return data from the Martian surface from both Rovers. In addition to the rover cameras, each lander utilized a descent imager (DI) to help facilitate safe landing and provide landing site context. The Pancam and MI are part of the scientific instrument payload of the rovers. In addition to gathering gathering science image data, the Pacams also support sun finding and measure atmospheric dust optical depth. The Hazcam and Navcam stereo pairs are used for traverse planning, autonomous navigation and general imaging.

Schwochert, M. A.↗
NASA NTRS2005

High gain antenna pointing on the Mars Exploration Rovers

This paper describes the algorithm used to point the high gain antennae on NASA/JPL's Mars Exploration Rovers. The gimballed antennae must track the Earth as it moves across the Martian sky during communication sessions. The algorithm accounts for (1) gimbal range limitations, (2) obstructions both on the rover and in the surrounding environment, (3) kinematic singularities in the gimbal design, and (4) up to two joint-space solutions for a given pointing direction. The algorithm computes the intercept-times for each of the occlusions and chooses the jointspace solution that provides the longest track time before encountering an occlusion. Upon encountering an occlusion, the pointing algorithm automatically switches to the other joint-space solution if it is not also occluded. The algorithm has successfully provided flop-free pointing for both rovers throughout the mission.

motion planning↗
NASA NTRS2005

High Gain Antenna Pointing on the Mars Exploration Rovers

This paper describes the algorithm used to point the high gain antennae on NASA/JPL's Mars exploration rovers. Each rover's gimballed antenna must track the Earth as it moves across the Martian sky during communication sessions. The pointing algorithm accounts for obstacles to the line-of-sight posed by (1) features on the rover and in the surrounding environment (2) gimbal range limitations, and (3) kinematic singularities in the gimbal mechanism. The algorithm treats all obstacles with a generalized approach that computes the intercept-times to each obstacle. Where possible, the algorithm takes advantage of pairs of joint-space solutions arising from the mechanism design. The algorithm chooses the solution that provides the longest obstruction-free tracking time. Upon encountering an obstacle, the algorithm automatically switches to the other solution if it is not also obstructed. This algorithm has successfully provided obstruction-free pointing for both rovers throughout the mission.

inverse kinematics↗
NASA NTRS2005

Mars Exploration Rover surface operations: driving spirit at Gusev Crater

Spirit is one of two rovers, that landed on Mars in January 2004 as part of NASA's Mars Exploration Rovers mission. Since then, Spirit has traveled over 4 kilometers accross the Martian surface while investigating rocks and soils, digging trenches to examine the subsurface environment, and climbing hills to reach outcrops of bedrock.

mobility↗