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249 records · Page 14

A positional estimation technique for an autonomous land vehicle in an unstructured environment

This paper presents a solution to the positional estimation problem of an autonomous land vehicle navigating in an unstructured mountainous terrain. A Digital Elevation Map (DEM) of the area in which the robot is to navigate is assumed to be given. It is also assumed that the robot is equipped with a camera that can be panned and tilted, and a device to measure the elevation of the robot above the ground surface. No recognizable landmarks are assumed to be present in the environment in which the robot is to navigate. The solution presented makes use of the DEM information, and structures the problem as a heuristic search in the DEM for the possible robot location. The shape and position of the horizon line in the image plane and the known camera geometry of the perspective projection are used as parameters to search the DEM. Various heuristics drawn from the geometric constraints are used to prune the search space significantly. The algorithm is made robust to errors in the imaging process by accounting for the worst care errors. The approach is tested using DEM data of areas in Colorado and Texas. The method is suitable for use in outdoor mobile robots and planetary rovers.

Talluri, Raj↗

Analytical Laboratory Science on the 2009 Mars Science Laboratory (MSL) Mission

The Odyssey Missions orbital maps of near surface ice abundance using neutron spectroscopy (Boynton et al., 2002), the Mars Exploration Rover s confirmation of aqueous processing (Squyres et al., 2004), and the Mars Express detailed infrared maps of specific mineral types that were likely formed in aqueous environments (Bibring et al., 2005) have dramatically expanded our tool set for understanding of aqueous processes on Mars. The 2009 Mars Science Laboratory is designed to extend the "follow the water" crosscutting theme of the Mars Exploration Program toward an even more detailed exploration of habitability - the potential of the Mars environment to support life. The next steps in understanding the habitability of Mars are a more detailed in situ analysis of the chemical state of elements such as C, H, O, N, S, P, Ca, and Fe that are essential for terrestrial life. Of particular interest are experiments that establish definitive mineralogy for a wider range of compounds and those that implement a more comprehensive and sensitive search for organic molecules both in the atmosphere and in surface or near surface rocks, soils, and fines. The recent reports of atmospheric methane in the Martian atmosphere make the organics exploration even more compelling. The substantial mass and power resources of MSL combined with its mobility and powerful sample acquisition and processing tools will enable it to locate a variety of near-surface samples and analyze these in some detail. NASA is presently considering the possibility of landing a second MSL rover in 2011.

Mahaffy, P. R.↗

Assessment of Spatial Navigation and Docking Performance During Simulated Rover Tasks

INTRODUCTION: Following long-duration exploration transits, pressurized rovers will enhance surface mobility to explore multiple sites across Mars and other planetary bodies. Multiple rovers with docking capabilities are envisioned to expand the range of exploration. However, adaptive changes in sensorimotor and cognitive function may impair the crew s ability to safely navigate and perform docking tasks shortly after transition to the new gravitoinertial environment. The primary goal of this investigation is to quantify post-flight decrements in spatial navigation and docking performance during a rover simulation. METHODS: Eight crewmembers returning from the International Space Station will be tested on a motion simulator during four pre-flight and three post-flight sessions over the first 8 days following landing. The rover simulation consists of a serial presentation of discrete tasks to be completed within a scheduled 10 min block. The tasks are based on navigating around a Martian outpost spread over a 970 sq m terrain. Each task is subdivided into three components to be performed as quickly and accurately as possible: (1) Perspective taking: Subjects use a joystick to indicate direction of target after presentation of a map detailing current orientation and location of the rover with the task to be performed. (2) Navigation: Subjects drive the rover to the desired location while avoiding obstacles. (3) Docking: Fine positioning of the rover is required to dock with another object or align a camera view. Overall operator proficiency will be based on how many tasks the crewmember can complete during the 10 min time block. EXPECTED RESULTS: Functionally relevant testing early post-flight will develop evidence regarding the limitations to early surface operations and what countermeasures are needed. This approach can be easily adapted to a wide variety of simulated vehicle designs to provide sensorimotor assessments for other operational and civilian populations.

Wood, S. J.↗

VIPER – Volatiles Investigating Polar Exploration Rover: Mission Overview

VIPER is a low cost, lunar volatiles detection and measurement mission that will be delivered to the lunar south pole by one of NASA’s Commercial Lunar Payload Services partners and will characterize the nature of the volatiles in the area and extrapolate this data to create global lunar water resource maps. It will be the first mining expedition on another world while simultaneously addressing fundamental planetary science questions. Prospecting for lunar water at the poles is the next step in understanding the resource potential and addressing key theories about water emplacement and retention. It now appears that potentially economically significant amounts of water ice exists at the poles of the Moon, however, the distribution of this water is still not understood at a level sufficient to fully evaluate economic models. The water ice (and other potential volatiles), the “ore body”, needs to be understood at the scales of 10s to 100s of meters to evaluate localization, extraction and processing techniques. To accomplish this, VIPER will survey permanently-shadowed regions, semi-permanent shadowed regions, and even semi and full sunlit areas in order to have a comprehensive survey of polar region volatiles, to best inform future mission architectures. In order to characterize the volatiles, a payload suite consisting of a neutron spectrometer, mass spectrometer, near infrared spectrometer and a 1-meter drill will be hosted on the VIPER mobile lunar rover platform. Since VIPER is a relatively low cost, schedule-constrained, risk-tolerant mission, there are architectural limitations that require unique mission planning constraints to enable exploration of the lunar south pole region. These regions offer unique challenges such as uncertain terrain conditions, rock and crater hazards, lunar dust, multipath communications effects, extreme thermal environments and multiple overlapping planning constraints. Mission design/traverse planning, system design capabilities and mission operations are all highly linked through initial development phases. We will describe the current mission overview and the unique approaches taken by the VIPER project based on our programmatic framework and unique mission environment.

VIPER↗

Space Suit Portable Life Support System Test Bed (PLSS 1.0) Development and Testing

A multi-year effort has been carried out at NASA-JSC to develop an advanced extra-vehicular activity Portable Life Support System (PLSS) design intended to further the current state of the art by increasing operational flexibility, reducing consumables, and increasing robustness. Previous efforts have focused on modeling and analyzing the advanced PLSS architecture, as well as developing key enabling technologies. Like the current International Space Station Extra-vehicular Mobility Unit PLSS, the advanced PLSS comprises three subsystems required to sustain the crew during extra-vehicular activity including the Thermal, Ventilation, and Oxygen Subsystems. This multi-year effort has culminated in the construction and operation of PLSS 1.0, a test bed that simulates full functionality of the advanced PLSS design. PLSS 1.0 integrates commercial off the shelf hardware with prototype technology development components, including the primary and secondary oxygen regulators, Ventilation Subsystem fan, Rapid Cycle Amine swingbed carbon dioxide and water vapor removal device, and Spacesuit Water Membrane Evaporator heat rejection device. The overall PLSS 1.0 test objective was to demonstrate the capability of the Advanced PLSS to provide key life support functions including suit pressure regulation, carbon dioxide and water vapor removal, thermal control and contingency purge operations. Supplying oxygen was not one of the specific life support functions because the PLSS 1.0 test was not oxygen rated. Nitrogen was used for the working gas. Additional test objectives were to confirm PLSS technology development components performance within an integrated test bed, identify unexpected system level interactions, and map the PLSS 1.0 performance with respect to key variables such as crewmember metabolic rate and suit pressure. Successful PLSS 1.0 testing completed 168 test points over 44 days of testing and produced a large database of test results that characterize system level and component performance. With the exception of several minor anomalies, the PLSS 1.0 test rig performed as expected; furthermore, many system responses trended in accordance with pre-test predictions.

Watts, Carly↗

Analytical Review of Exploration Extravehicular Mobility Unit Heat Rejection Performance

The Primary Thermal Control Loop (PTCL) in the Exploration Extravehicular Mobility Unit (xEMU) uses a Spacesuit Water Membrane Evaporator (SWME) to provide cooling for the crew member and spacesuit avionics. A secondary emergency cooling system, the Auxiliary Thermal Control Loop (ATCL), also uses a smaller version of the SWME, called the Mini-ME, in the event of a failure in the primary system. These are integral to the comfort of the crew member (through heat rejection) during an Extravehicular Activity (EVA). This paper examines the effectiveness of the heat rejection of the PTCL and the ATCL during thermal vacuum testing and the absolute limit of heat rejection to maintain an approximately 10C outlet temperature. During this thermal vacuum test, the PTCL was taken from a heat input of 0W up to 900W, far past the design point, and the ATCL was tested from 0W to 300W. Testing showed that the PTCL and the ATCL can maintain crew member outlet temperature throughout an entire 8-hour thermally controlled EVA environment (hot and cold). The results and effectiveness of the test will be detailed throughout this paper for all EVAs (whether a full mapping profile or a standard continuous heat load).

PLSS↗

Hail Storm Risk Assessment Using Space-Borne Remote Sensing Observations and Reanalyses

Much of the world is impacted by severe thunderstorms, but whether they become disasters depends upon resilience--our capacity to prepare, mitigate, respond, and recover. Hail is the costliest severe weather hazard for the insurance industry, generating ~70% of severe convective storm losses due to damage to assets such as homes, businesses, agriculture, and infrastructure. Most insurance companies do not reserve enough capital to cover catastrophes, so they acquire reinsurance. The reinsurance industry uses catastrophe models (CatModels) to statistically estimate risk to an insurer’s portfolio. Hail CatModels are developed with climatologies that define hailstorm frequency and severity. Hail-prone areas can be defined using hail reports from trained spotters, the media, and the general public. Extremely severe hail (2+ inch diameter) occurs nearly every day across the world. Weather radars can detect hail because hailstones strongly reflect microwave signals that they emit. However, hail climatologies are difficult to derive because hail covers small areas and there are neither hail reporting mechanisms (e.g. website or mobile app) nor radar networks in most places outside the US and Europe. This lack of ground truth on severe hail puts society and economies at risk. Hail is generated within storms by strong updrafts. These updrafts exhibit unique signatures in NASA and other agency satellite observations, offering new opportunities for hailstorm analysis. Geostationary (GEO) visible and infrared imagery has been collected for ~15-25 years across the world (region dependent) and methods have been developed at NASA Langley Research Center (LaRC) to detect hailstorm updrafts using GEO imagery. Climatological GEO updraft data has been used by Willis Towers Watson (WTW), a leader in catastrophe risk assessment for the insurance industry, and Karlsruhe Institute of Technology to develop CatModels over Europe and Australia. Hail can also be inferred with passive microwave imagery collected by low-Earth-orbiting sensors such as the GPM GMI, TRMM TMI, AMSR-E, AMSR-2, SSM/I, and SSMIS over the last 20+ years using methods developed at the Marshall Space Flight Center (MSFC). Hailstorms generate enhanced lightning flash rates that can be tracked using new GOES-R series GEO Lightning Mapping (GLM) imagery. Atmospheric reanalyses can be used to define favorable hailstorm environments for combination with the satellite-based storm detections. This presentation will describe a framework for developing continental to global hail climatologies and CatModels based on NASA satellite data and capabilities. This is a collaboration between LaRC and MSFC, WTW, and partners in Brazil, Argentina, and South Africa. This project seeks to mitigate hail disasters by aiding development of new satellite-based severe storm nowcasting tools by regional partners and developing climatologies to improve societal understanding of hail frequency. GEOO visible and infrared metrics of storm intensity, environmental conditions based on reanalyses, spotter hail reports and radar MESH observations are intercompared to quantify the detectability of hailstorms, and our ability to discriminate hailstorms from other severe storms. We are also maturing methods using land surface imaging satellite data (e.g. MODIS, Landsat, Sentinel 1 and 2) to identify hail damage to agriculture. Work with WTW will improve socioeconomic resilience through development of new CatModels. Southern Brazil, Uruguay, Paraguay, and Argentina feature some of the most intense thunderstorms on Earth. South America and South Africa are developing insurance markets of interest to WTW clients, and is similar to other regions routinely impacted by hail that do not have comprehensive hail reporting or radars to assess hailstorm frequency. Project datasets will be made available via online GIS-enabled tools developed at the LaRC Atmospheric Science Data Center (ASDC) which will visualize data and provide it in multiple formats for use in a wide range of open source and commercial tools.

Kristopher Michael Bedka↗

New Rover Conops with High-Performance Onboard Computing: Give Up Raw Data to Reduce Ops Cost and Do More Science

A major portion of time during the tactical operation of Mars rovers is spent for selecting, prioritizing, and coordinating sciences and engineering activities such that they fit within resource constraints, including the downlink data volume, energy, and time. In particular, the downlink data volume constraint is getting particularly tighter in recent missions because modern instruments produce increasingly high data volume while the communication bandwidth is essentially bounded by the law of physics. Tactical operation would be substantially simplified, hence the operation cost could be reduced, if the data volume constraint is relaxed or even removed. In this abstract, we propose a new operation paradigm for achieving this goal. The key observation is that, both in science and engineering applications, the bit size of raw data is typically much greater than the volume of processed information that is needed for scientific or engineering analysis. For example, a full-resolution image from Mastcam-Z, the main science camera on Perseverance, is about 700 kB in volume and we downlinked 29,685 images up to Sol 243, totaling ~20 GB of data. But of course, scientists do not use every pixel of these images; what they really look for in the images are geological features, typically represented by specific geometric configurations or textures. An end product after processing hundreds of Mascam-Z images could be a single geological map summarizing the spatial distribution of the features. For another example, a 100-meter drive of Perseverance produces 7-12 MB of drive telemetry, which records every detail of the rover's motion at 8 Hz, including position, attitude, steering angles, encoder readings, motor currents and many other information. But what the ground engineers eventually pay attention to is the signs of anomaly, such as excessive motor currents or high slip; if a drive is nominal, the vast majority of this data is unused. What if, then, we process the raw data onboard and only downlink the processed data that is relevant to scientific or engineering analyses, such as a list of detected science features (with cropped images) or a list of potential signs of anomaly while driving? A major roadblock for such onboard, high-level information processing has been the onboard computational resource. RAD750, the main onboard computer of Perseverance, is obviously not sufficient for performing complex image or signal processing such as object detection, semantic segmentation, or anomaly detection. Interestingly, RAD750 is not the best processor that Perseverance has; Qualcomm's Snapdragon 801, a modern mobile processor, is on her Heli Base Station, a device for communicating with Mars Helicopter Ingenuity; also, Intel's Atom E3845 processors are on engineering cameras. In the reminder of this paper, we will introduce two particular uses cases of these high-performance co-processors (meaning auxiliary CPU, GPU, or other types of processors that are separate from the main processor that runs the main flight software) for lowering operation cost and accommodating more science activities for a given communication constraint.

Didier, A.↗

Automating CapCom Using Mobile Agents and Robotic Assistants

We have developed and tested an advanced EVA communications and computing system to increase astronaut self-reliance and safety, reducing dependence on continuous monitoring and advising from mission control on Earth. This system, called Mobile Agents (MA), is voice controlled and provides information verbally to the astronauts through programs called personal agents. The system partly automates the role of CapCom in Apollo-including monitoring and managing EVA navigation, scheduling, equipment deployment, telemetry, health tracking, and scientific data collection. EVA data are stored automatically in a shared database in the habitat/vehicle and mirrored to a site accessible by a remote science team. The program has been developed iteratively in the context of use, including six years of ethnographic observation of field geology. Our approach is to develop automation that supports the human work practices, allowing people to do what they do well, and to work in ways they are most familiar. Field experiments in Utah have enabled empirically discovering requirements and testing alternative technologies and protocols. This paper reports on the 2004 system configuration, experiments, and results, in which an EVA robotic assistant (ERA) followed geologists approximately 150 m through a winding, narrow canyon. On voice command, the ERA took photographs and panoramas and was directed to move and wait in various locations to serve as a relay on the wireless network. The MA system is applicable to many space work situations that involve creating and navigating from maps (including configuring equipment for local topology), interacting with piloted and unpiloted rovers, adapting to environmental conditions, and remote team collaboration involving people and robots.

Clancey, William J.↗

NASA Tech Briefs, March 2014

Topics include: Data Fusion for Global Estimation of Forest Characteristics From Sparse Lidar Data; Debris and Ice Mapping Analysis Tool - Database; Data Acquisition and Processing Software - DAPS; Metal-Assisted Fabrication of Biodegradable Porous Silicon Nanostructures; Post-Growth, In Situ Adhesion of Carbon Nanotubes to a Substrate for Robust CNT Cathodes; Integrated PEMFC Flow Field Design for Gravity-Independent Passive Water Removal; Thermal Mechanical Preparation of Glass Spheres; Mechanistic-Based Multiaxial-Stochastic-Strength Model for Transversely-Isotropic Brittle Materials; Methods for Mitigating Space Radiation Effects, Fault Detection and Correction, and Processing Sensor Data; Compact Ka-Band Antenna Feed with Double Circularly Polarized Capability; Dual-Leadframe Transient Liquid Phase Bonded Power Semiconductor Module Assembly and Bonding Process; Quad First Stage Processor: A Four-Channel Digitizer and Digital Beam-Forming Processor; Protective Sleeve for a Pyrotechnic Reefing Line Cutter; Metabolic Heat Regenerated Temperature Swing Adsorption; CubeSat Deployable Log Periodic Dipole Array; Re-entry Vehicle Shape for Enhanced Performance; NanoRacks-Scale MEMS Gas Chromatograph System; Variable Camber Aerodynamic Control Surfaces and Active Wing Shaping Control; Spacecraft Line-of-Sight Stabilization Using LWIR Earth Signature; Technique for Finding Retro-Reflectors in Flash LIDAR Imagery; Novel Hemispherical Dynamic Camera for EVAs; 360 deg Visual Detection and Object Tracking on an Autonomous Surface Vehicle; Simulation of Charge Carrier Mobility in Conducting Polymers; Observational Data Formatter Using CMOR for CMIP5; Propellant Loading Physics Model for Fault Detection Isolation and Recovery; Probabilistic Guidance for Swarms of Autonomous Agents; Reducing Drift in Stereo Visual Odometry; Future Air-Traffic Management Concepts Evaluation Tool; Examination and A Priori Analysis of a Direct Numerical Simulation Database for High-Pressure Turbulent Flows; and Resource-Constrained Application of Support Vector Machines to Imagery.

Source record↗

NASA WorldWind: Open Source Visualization Technology for Earth Observation

NASA WorldWind: Open Source Visualization Technology for Earth Observation WorldWind, open source virtual globe technology for Java, iOS, Android and Web, is provided by NASA and is architected as API-centric modular componentry. This enable it to be continually optimized and feature-enriched in ways that allow applications based on this SDK (Software Development Kit) to benefit Earth Observation, especially Open Science, with minimal or no adjustment for the decade ahead. The next-generation National Airspace System (NAS) aviation management system for the U.S. Federal Aviation Administration, FAA, uses WorldWind, as do applications currently being developed by the European Space Agency, along with several other US and European government agencies and industry partners. This presentation will demonstrate several NASA open source use cases for WorldWind technology that include advances being made to optimize access to NetCDF and HDF data via WebWorldWind.NASA WorldWind: Multidimensional Geospatial Web Platform The ability to see spatial data in its native context is essential for that data to be appreciated whether by the scientific community, policy and decision-makers or the general public. Recently, the accessibility of spatial data has dramatically improved. Without the need to install an application, spatial data can now be experienced via any web browser, mobile devices included. For developers, by simply updating the app on your server, the latest version of your application is now immediately available to your entire usercommunity. Unlike other virtual globes such as Google Earth, NASA World Wind offers something very special, full control to customize the interface with any features or functionalities you might need. You decide how the data is accessed and experienced. This allows you to provide maximum value of the information to your user community. The web version of NASA WorldWind (WebWorldWind) has made it possible for a whole new suite of applications for managing and sharing spatial data. Apps built with this web version are ideal for immediate social media type activity and also facilitate delivery of sophisticated data exchange scenarios such as weather and climate research, disaster response, personal navigation, and industrial-strength tracking for transportation, supply chain, aviation and satellites. WebWorldWind is an application component, not an app in itself. It is written in JavaScript and provides the real world geographic context for spatial data and information visualization, using a rich set of shapes and graphic primitives. WebWorldWind also provides platform independence, while accommodating any number of data types. Web WorldWind runs on any platform via a browser, i.e., Internet Explorer, Firefox, Chrome and Safari. Features include, 3D virtual globe, 2D map with multiple projection choices (Mercator, Polar, UPS, Equirectangular), imagery and elevation import, extensible, data retrieval (via REST, WMS, WCS, WFS, Bing, User-Defined), decluttering, measurement, accurate line-ofsight, subsurface visualization, and more.

Open Source Mapping↗

On-Demand Mobility (ODM) Technical Pathway: Enabling Ease of Use and Safety

On-demand mobility (ODM) through aviation refers to the ability to quickly and easily move people or equivalent cargo without delays introduced by lack of, or infrequently, scheduled service. A necessary attribute of ODM is that it be easy to use, requiring a minimum of special training, skills, or workload. Fully-autonomous vehicles would provide the ultimate in ease-of-use (EU) but are currently unproven for safety-critical applications outside of a few, situationally constrained applications (e.g. automated trains operating in segregated systems). Applied to aviation, the current and near-future state of the art of full-autonomy, may entail undesirable trade-offs such as very conservative operational margins resulting in reduced trip reliability and transportation utility. Furthermore, acceptance by potential users and regulatory authorities will be challenging without confidence in autonomous systems in developed in less critical, but still challenging applications. A question for the aviation community is how we can best develop practical ease-of-use for aircraft that are sized to carry a small number of passengers (e.g. 1-9) or equivalent cargo. Such development is unlikely to be a single event, but rather a managed, evolutionary process where responsibility and authority transitions from human to automation agents as operational experience is gained with increasingly intelligent systems. This talk presents a technology road map being developed at NASA Langley, as part of an overall strategy to foster ODM, for the development of ease-of-use for ODM aviation.

Goodrich, Ken↗

DLES Unreal Simulation Tool (DUST)

NASA’s future Artemis missions to the Moon seek to explore areas around the Lunar South Pole. Though humans have previously set foot on the lunar surface, the proposed region provides unique and challenging environments that require insight and investigation prior to arrival. Several teams throughout the agency are performing this site and mission planning, design, and analysis to support areas like the Human Landing System (HLS), surface mobility, habitation elements, and scientific exploration. The NASA Exploration Systems Simulation (NExSyS) team at Johnson Space Center is developing a graphical environment of the Lunar South Pole region. Lunar terrain information collected from the Lunar Reconnaissance Orbiter (LRO) is compiled and made available through Johnson Space Center’s Digital Lunar Exploration Sites (DLES) data sets. The DLES data is used to build this graphic environment. The process of ingesting and accurately modeling this information in a meaningful way for analysis creates its own challenges such as generating a performant model from the source data and the application of curvature. Additionally, the area around the Lunar South Pole experiences different lighting conditions than those observed from the Apollo missions. The need to use the lunar environmental data products provided by DLES combined with the capability to calculate date specific ephemerides in real-time has given rise to the development of the DLES Unreal Simulation Tool (DUST). DUST incorporates augmented terrain from the DLES product into a desktop application that allows exploration of the Lunar South Pole region and its complex lighting conditions. DUST leverages advanced capabilities in the recently released Unreal Engine 5 renderer by Epic Games such as double precision for positioning of planetary bodies and surface elements, multiple infinite light sources to represent the Sun and eventually Earthshine, high resolution shadow maps for dynamic shadow accuracy, real-time software ray-tracing for multi-surface bounce lighting to render sunlight reflected off surface elements and terrain features, and performance optimized level of detail shifting as the eyepoint changes in a scene. This paper details the DUST application, the technologies of the engine platform that enable scientific and engineering analysis, the unique techniques and processes developed to consume the DLES data sets, and how the tool is being used to support the Artemis program.

Lunar Visualization↗

An Optimization Approach to Support Science Decision Making for Lunar Surface Exploration

Introduction: Scientific exploration is one of the three pillars of NASA’s Moon2Mars architecture, with crew surface extra vehicular activities (EVA) serving a critical enabling function. Development of surface EVA operational planning and execution, specifically integrating science and flight control teams (FCT), is currently being explored through analog scenarios. This integration, exercised, for example, through the Joint EVA and Hu-man Surface Mobility Test Team (JETT), allows for science input on EVA activities in near real-time through a Science Evaluation Room (SER), or Arte-mis science backroom, which integrates with the broader FCT through the Science Officer. The SER works within the FCT to support dynamic EVA planning in response to changes in operational constraints as well as science opportunities and re-prioritization, increasing the mission science return and accelerating the accomplishment of the Moon2Mars science objectives. The SER works within the FCT to provide recommendations to traverse execution in near real-time. One challenge is the requirement to deliver SER inputs to the FCT on operationally relevant timelines. Failure to do so may result in suboptimal execution of science exploration EVAs or even loss of key science objectives. To close this gap, we present a network optimization tool to allow the SER to provide rapid input to the FCT in response to changes in operational constraints or science opportunities. Inputs are predicated on approved science objectives, and clear rationale must be provided to the FCT for any requested change. Accordingly, this tool incorporates the Science Traceability Matrix (STM), SER prioritization scheme, and station characterization and action planning with operational constraints such as duration, traverse speed, and distance to maximize science objectives based on SER priorities, consistent with FCT operational requirements. Method: As a proof of concept, we used an existing linear programing software package used to simulate optimal routes through cellular metabolism. We built a Demonstrative Model with three STM objectives and four stations on a region of the Moon. The objectives were given an arbitrary prioritization and mapped to the stations through four possible crew actions. (Figs. 1 and 2). This station to STM mapping is consistent with the method used by the JETT5 Science Team to develop analog surface EVA science planning. We used a grid system with the landing site at the origin and the four stations placed across the positive x,y quadrant. Actions were assigned to each station and the accomplishment of those actions resulted in a numerical “reward” based on the ability of that action to achieve science objectives. The aggregate reward from each individual STM objective contributes to a global score (Science Yield), weighted by its priority. Operational constraints included a requirement to start and end at the landing site, 5 minutes each for initial station characterization and “clean up,” and variable total EVA time, traverse rate (fixed to 0.5 meters per second in our example), and time to perform each action (10, 5, 7, and 15 min for actions 1, 2, 3, and 4, respectively). Additional constraints and variables will be added in the future (e.g., sample mass, number of stations, traverse route constraints, illumination). Optimization. We converted the connections (arcs) between these stations (nodes) into a mixed integer linear programming optimization problem (arcs = constraints, nodes = variables) with the objective to maximize Science Yield. For any action, the Science Yield is equal to the relevance of that action to an STM objective [3, 2, and 1 point(s) for High, Med., and Low relevance, respectively], multiplied by the STM Objective Priority [3, 2, and 1 point(s) for High, Med., and Low priority, respectively]. This resulted in a model that computes the optimal station and action combination to maximize the Science Yield. These weightings can be adjusted by the SER as desired. Results: We explored three test cases for the Demonstrative Model. First, we set the maximum EVA duration to 120 minutes and computed the optimal route (Fig. 3A). The model suggested per-forming Actions 1 and 2 at Station P01, followed by Actions 1 and 2 at Station P02, and finally Actions 1 and 3 at Station P04 before returning to the Landing Site. Second, we adjusted the STM Objective Priori-ty order and computed the new optimal route (Fig. 3B). Under this situation, the model suggested per-forming all Actions at Station P02 followed by all Actions at Station P03. The previous test cases were relevant to SER planning activities. Next, we explored providing mid-EVA replanning input to the FCT. Scenario: While executing the Route in Fig. 3A the crew finishes at Station P01 and FCT decides that the EVA needs to finish in 45 minutes back at the Landing Site. FCT asks SER to recommend changes to the plan to accommodate this operation-al change. Using the model and incorporating these new constraints (start at Station P01, max. time of 45 min), the model suggested performing Actions 2 and 4 at Station P03 (Fig. 4), requiring 41 minutes to complete and return to the Landing Site. Interestingly, Station 3 was not part of the original route. Using the model, we determined the EVA would need 66 minutes, instead of 45, in order for the original Station P04 to yield a larger Science Yield than Station P03. The parametrization and simulation was per-formed in less than a minute, demonstrating the operational relevance of the approach. Future Efforts: The results from the Demonstrative Model suggest this tool can accelerate SER decision making on operationally relevant timelines. Use in analog activities, such as JETT5 or follow-ons, which have over a dozen stations for a crew to explore and over a dozen actions per station, will provide needed validation of the utility of this tool for planning EVAs, replanning mid-EVA, or planning follow-on EVAs based on previous results. Further integration with FCT execution monitoring tools may provide additional efficiency gains, al-lowing rapid and iterative exploration of operation-al and science decision space by the FCT and SER.

Science Operations↗

Simulating Mars: Enabling Testing of the Perseverance Rover Sampling and Caching Subsystem on Earth

The development of the Sampling and Caching Subsystem (SCS) on the JPL Perseverance Rover lies at the intersection of testing, robotics, and geology. The SCS team established three primary system test campaigns and venues to aid in the development of SCS through verification and validation testing – Qualification Model Dirty Testing (QMDT) to provide a venue for testing in a Martian environment, Vehicle System Testbed (VSTB) for testing while integrated with the mobility subsystem on Martian-like terrain, and the Flight Software Testbed (FSWTB) for conducting tests using the flight motor controllers and software system on a hexapod which had the ability to simulate rover tilt. Each venue contributed a vital piece to the SCS building blocks. However, the QMDT venue operating within a 10-ft diameter Thermal Vacuum chamber to simulate Martian environment provided a sui generis opportunity to fine tune the entire sampling and caching process while building the team’s knowledge base about rock drillability, system life, and target selection. On Earth, because Martian rocks are not readily available, the development team must utilize geoanalogs to the rocks and regolith on Mars. Geologists on the team helped establish a set of standard rock types to use for Mars missions, like Basalt, Sandstone, Mudstone, Gypsum, and other related geoanalogs. These geoanalogs are characterized with a standard suite of tests for density, compressibility, and other characteristics to categorize potential drillability. This concept of drillability is what links the geoanalogs on Earth to the samples we collect on Mars. With the simulant characteristics defined, these geoanalog rocks are ready to be drilled into as we do on the Martian surface. A key aspect of interacting with the surface on Mars is rock target identification and selection. The Perseverance robotic system uses the on-board cameras, instrumentation, and software to collect enough information to identify potential scientific targets. With the targets identified, SCS can place the Corer and abrade the surface or collect a sample. For a ground test activity like QMDT, the test team did not have all of the camera and instrumentation systems that the rover does, so the team developed ground test equivalents to process a rock, build a target map, and define the target. The team constructed a Rock Scanning Station to build a 3D point cloud of the rock. This point cloud was then processed and evaluated with predefined and programmed criteria in a Target Downselect Tool. A primary output of the Target Downselect Tool is a defined target that can be uploaded directly to the robotic software system to simulate and build the robotic sequences used in tests. With these insights and programmatic definition of targets, the QMDT test team was able to make the same decisions that the Perseverance surface operations team does. In addition, valuable lessons learned from developing the target selection ground tools and using them were implemented into the tools used for surface operations.

Kim, Junggon↗