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Electrostatic Charging of the Pathfinder Rover

The Mars Pathfinder mission will send a lander and a rover to the martian surface. Because of the extremely dry conditions on Mars, electrostatic charging of the rover is expected to occur as it moves about. Charge accumulation may result in high electrical potentials and discharge through the martian atmosphere. Such discharge could interfere with the operation of electrical elements on the rover. A strategy was sought to mitigate this charge accumulation as a precautionary measure. Ground tests were performed to demonstrate charging in laboratory conditions simulating the surface conditions expected at Mars. Tests showed that a rover wheel, driven at typical rover speeds, will accumulate electrical charge and develop significant electrical potentials (average observed, 110 volts). Measurements were made of wheel electrical potential, and wheel capacitance. From these quantities, the amount of absolute charge was estimated. An engineering solution was developed and recommended to mitigate charge accumulation. That solution has been implemented on the actual rover.

Siebert, Mark W.↗

Work on Planetary Atmospheres and Planetary Atmosphere Probes

A summary final report of work accomplished is presented. Work was performed in the following areas: (1) Galileo Probe science analysis, (2) Galileo probe Atmosphere Structure Instrument, (3) Mars Pathfinder Atmosphere Structure/Meteorology instrument, (4) Mars Pathfinder data analysis, (5) Science Definition for future Mars missions, (6) Viking Lander data analysis, (7) winds in Mars atmosphere Venus atmospheric dynamics, (8) Pioneer Venus Probe data analysis, (9) Pioneer Venus anomaly analysis, (10) Discovery Venus Probe Titan probe instrument design, and (11) laboratory studies of Titan probe impact phenomena. The work has resulted in more than 10 articles published in archive journals, 2 encyclopedia articles, and many working papers. This final report is organized around the four planets on which there was activity, Jupiter, Mars, Venus, and Titan, with a closing section on Miscellaneous Activities. A major objective was to complete the fabrication, test, and evaluation of the atmosphere structure experiment on the Galileo probe, and to receive, analyze and interpret data received from the spacecraft. The instrument was launched on April 14, 1989. Calibration data were taken for all experiment sensors. The data were analyzed, fitted with algorithms, and summarized in a calibration report for use in analyzing and interpreting data returned from Jupiter's atmosphere. The sensors included were the primary science pressure, temperature and acceleration sensors, and the supporting engineering temperature sensors. Computer programs were written to decode the Experiment Data Record and convert the digital numbers to physical quantities, i.e., temperatures, pressures, and accelerations. The project office agreed to obtain telemetry of checkout data from the probe. Work to extend programs written for use on the Pioneer Venus project included: (1) massive heat shield ablation leading to important mass loss during entry; and (2) rapid planet rotation, which introduced terms of motion not needed on Venus. When the Galileo Probe encountered Jupiter, analysis and interpretation of data commenced. The early contributions of the experiment were to define (1) the basic structure of the deep atmosphere, (2) the stability of the atmosphere, (3) the upper atmospheric profiles of density, pressure, and temperature. The next major task in the Galileo Probe project was to refine, verify and extend the analysis of the data. It was the verified, and corrected data, which indicated a dry abiabatic atmosphere within measurement accuracy. Temperature in the thermosphere was measured at 900 K. Participation in the Mars atmospheric research included: (1) work as a team member of the Mars Atmosphere Working Group, (2) contribution to the Mars Exobiology Instrument workshop, (3) asssistance in planning the Mars global network and (4) assitance in planning the Soviet-French Mars mission in 1994. This included a return to the Viking Lander parachute data to refine and improve the definition of winds between 1.5 and 4 kilometer altitude at the two entry sites. The variability of the structure of Mars atmosphere was addressed, which is known to vary with season, latitude, hemisphere and dust loading of the atmosphere. This led to work on the Pathfinder project. The probe had a deployable meteorology mast that had three temperature sensors, and a wind sensor at the tip of the mast. Work on the Titan atmospheric probe was also accomplished. This included developing an experiment proposal to the European Space Agency (ESA), which was not selected. However, as an advisor in the design and preparation of the selected experiment the researcher interacted with scientist on the Huygens Probe Atmosphere Structure Experiment. The researcher also participated in the planning for the Venus Chemical Probe. The science objectives of the probe were to resolve unanswered questions concerning the minor species chemistry of Venus' atmosphere that control cloud formation, greenhouse effectiveness, and the thermal structure. The researcher also reviewed problems with the Pioneer Venus Probe, that caused anomalies which occurred on the Probes at and below 12.5 km level of the Venus' atmosphere. He convened and participated in a workshop that concluded the most likely hardware cause was insulation failure in the electrical harness outside the Probes' pressure vessels. It was discovered that the shrink tubing material failed at 600K. This failure could explain the anomalies experienced by the probes. The descent data of the Pioneer probes, and the Soviet Vega Lander was analyzed to evaluate the presence of small scale gravity waves in and below the Venus cloud layer.

Lester, Peter↗

Magnetohydrodynamic Power Generation in the Laboratory Simulated Martian Entry Plasma

This paper addresses the magnetohydrodynamic (MHD) conversion of the energy released during the planetary entry phase of an interplanetary vehicle trajectory. The effect of MHD conversion is multi-fold. It reduces and redirects heat transferred to the vehicle, and regenerates the dissipated energy in reusable and transportable form. A vehicle on an interplanetary mission carries about 10,000 kWh of kinetic energy per ton of its mass. This energy is dissipated into heat during the planetary atmospheric entry phase. For instance, the kinetic energy of Mars Pathfinder was about 4220 kWh. Based on the loss in velocity, Mars Pathfinder lost about 92.5% of that energy during the plasma-sustaining entry phase that is approximately 3900 kWh. An ideal MHD generator, distributed over the probe surface of Mars Pathfinder could convert more than 2000 kWh of this energy loss into electrical energy, which correspond to more than 50% of the kinetic energy loss. That means that the heat transferred to the probe surface can be reduced by at least 50% if the converted energy is adequately stored, or re-radiated, or directly used. Therefore, MHD conversion could act not only as the power generating, but also as the cooling process. In this paper we describe results of preliminary experiments with light and microwave emitters powered by model magnetohydrodynamic generators and discuss method for direct use of converted energy.

Vuskovic, L.↗

Registration assisted mosaic generation

This paper presents a general strategy for assembling mosaics from numerous individual images where uncertainty exists in the position and orientation of those images. Both of the presented applications relate to remotely operated camera platforms, the first being the Galileo solid state imaging (SSI) camera presently in orbit around Jupiter, and the second being the Imager for Mars Pathfinder (IMP) stereo camera on Mars. A basic strategy in both applications is to determine the correct relative camera pointing followed by direct map projection of the images. It is assumed that approximate camera pointing exists sufficient to locate adjacent images and to place initial tiepoints within reach of the correlator. Spatial correlation is used to fix tiepoints whose initial locations are predicted by the camera pointing. We use either an fast fourier transform (fft) algorithm or a variant of Gruen's scheme permitting limited image rotation and skew. The Gruen correlator has three hierarchical modes: 1) A classical spatial least squares correlation on integral pixel boundaries used when rotation is small. 2) An annealing non-deterministic search used when rotations are unknown. A simplex deterministic search used for the end game. The correlation operation can be performed either interactively or autonomously. The final camera pointing solution relies upon a simplex downhill search in 2n or 3n dimensions where n is the number of images comprising the mosaic and the objective function to be minimized is the disagreement between tiepoint locations predicted from the camera pointing with those observed by the correlator. For Galileo the 3n unknowns are euler angles defining camera pointing in planet coordinates, and for Mars Pathfinder they are 2n unknowns representing commanded azimuth and elevation in the Lander coordinate system.

Lorre, Jean J.↗

The Radiative Effects of Martian Water Ice Clouds on the Local Atmospheric Temperature Profile

Mars Pathfinder made numerous discoveries, one of which was a deep temperature inversion that extended from about 15 km down to 8 km above the surface. It has been suggested by Haberle et al. (1999. J. Geophys. Res. 104, 8957-8974.) that radiative cooling by a water ice cloud may generate such an inversion. Clouds can strongly affect the local air temperature due to their ability to radiate efficiently in the infrared and due to the low air mass of the martian atmosphere, which allows the temperature to change during the relatively short lifetime of a cloud. We utilize a time-dependent microphysical aerosol model coupled to a radiative--convective model to explore the effects water ice clouds have on the local martian temperature profile. We constrain the dust and water vapor abundance using data from the Viking Missions and Mars Pathfinder. Water t ice clouds with visible optical depths of r > 0.1 form readily in these simulations. These clouds alter the local air temperature directly, through infrared cooling, and indirectly, by redistributing atmospheric dust. With this model we are able to reproduce the temperature inversions observed by Mars Pathfinder and Mars Global t Surveyor 2000 Academic Press

Colaprete, Anthony↗

Sensitivity of planetary cruise navigation to earth orientation calibration errors

A detailed analysis was conducted to determine the sensitivity of spacecraft navigation errors to the accuracy and timeliness of Earth orientation calibrations. Analyses based on simulated X-band (8.4-GHz) Doppler and ranging measurements acquired during the interplanetary cruise segment of the Mars Pathfinder heliocentric trajectory were completed for the nominal trajectory design and for an alternative trajectory with a longer transit time. Several error models were developed to characterize the effect of Earth orientation on navigational accuracy based on current and anticipated Deep Space Network calibration strategies. The navigational sensitivity of Mars Pathfinder to calibration errors in Earth orientation was computed for each candidate calibration strategy with the Earth orientation parameters included as estimated parameters in the navigation solution. In these cases, the calibration errors contributed 23 to 58% of the total navigation error budget, depending on the calibration strategy being assessed. Navigation sensitivity calculations were also performed for cases in which Earth orientation calibration errors were not adjusted in the navigation solution. In these cases, Earth orientation calibration errors contributed from 26 to as much as 227% of the total navigation error budget. The final analysis suggests that, not only is the method used to calibrate Earth orientation vitally important for precision navigation of Mars Pathfinder, but perhaps equally important is the method for inclusion of the calibration errors in the navigation solutions.

Estefan, J. A.↗

Exopaleontology at The Pathfinder Landing Site

The Mars Pathfinder Mission is a Discovery Class mission that will place a small lander and rover on the surface of Mars in July of 1997. It is primarily a technology demonstration to test the feasibility of a direct entry-delivery system, but carries a nominal scientific payload that includes rover-lander and instrumentation for limited mineralogical analysis. The nominal landing site was selected by the Pathfinder Team under the leadership of Dr. Matthew Golombek (JPL) based input from 60 participants at a Landing Site Workshop held last Spring at the Lunar Planetary Institute in Houston. The mission constraints for the landing site were 0-30 deg. N latitude, and below the 0.0 elevation datum. Over 20 landing sites were proposed and a nominal site was selected on southern Chryse Planitia near the terminae of the Ares and Tui outflow channels. In part, the decision to land at this location was based on the opportunity to sample a potentially large number lithologies in a small area (the rover will have a range of a few tens of meters from the lander). The purpose here is to review the general geological context of the landing site and the rationale for Exobiology's recommendation of the Ares site given at the workshop last spring. Because Ares and Tui Valles are sourced within terranes that may have originated by thermokarst processes, hydrothermal processes could have operated there for some time. Hydrothermal systems are presently regarded as important sites for a fossil record on Mars. Models for the formation of the outflow channels suggest that thermal spring sinters and associated aqueous mineral deposits, high priority targets for Mars Exopaleontology, could have formed in association with thermokarst processes and subsequently been delivered to the landing site in large quantities during the periodic cataclysmic outflows that created the channels.

Farmer, Jack D.↗

Proposed Mars Surveyor Landing Sites in Northern Meridiani Sinus, Southern Elysium Planitia, and Argyre Planitia

Our objective is to propose two landing sites that the Mars Surveyor 2001 Lander and Athena Rover could go to on Mars that should meet the safety requirements of the spacecraft landing system and optimize surface operations (chiefly driven by power and communications requirements). An additional site within Argyre Planitia, initially proposed by Parker to the Mars Surveyor Landing Site program, is also proposed for potential consideration for post-2001 missions to Mars, as it is well outside the current latitude limits for the Athena Rover. All three sites are designed to be situated as close to a diversity of geologic units within a few kilometers of the landing site so that diversity can be placed in a geologic context. This objective is very different from the Mars Pathfinder requirement to land at a site with a maximum chance for containing a diversity of rocks within a few tens of meters of the lander. That requirement was driven by the Sojourner mobility limit of a few tens of meters. It can be argued that the Athena project, with its much larger mobility capability, might actually want to avoid such a site, because placing collected samples in geologic context would be difficult. While it has been argued, both before and after the Mars Pathfinder landing, that the provenance for local blocks may be determined by orbiter spectra, primarily from the MGS TES instrument, our ability to do so has yet to be demonstrated. Indeed, several months after conclusion of the Pathfinder mission, we have yet to reach a consensus on the composition of local materials. Our primary data set for selecting a landing site within the latitude and elevation constraints of the 2001 mission is the Viking Orbiter image archive. The site must be selected to place the landing ellipse so as to avoid obvious hazards, such as steep slopes, large or numerous craters, or abundant large knobs. For this purpose, we chose a resolution limit of better than 50 m/pixel. This necessarily excludes from the present study images from current and future orbiter spacecraft, until such data does become readily available. Within each proposed region, it may be possible to identify additional sites once these data become available. Second, the fine-component thermal inertia data, should be greater than about 5 or 6 cgs Units (10(exp -3) cal/sq cm s(exp -0.5)/K). Low thermal inertias imply dusty environments, which could pose a mobility hazard. Similarly, the albedo of the site should not be particularly high, which would also suggest dusty surfaces. Low albedos are preferred, as they often coincide with low Viking red:violet ratios and indicate less dusty surfaces. Next, the Modeled Block Abundance should also not be too high or too low. Based on the Viking Lander and Mars Pathfinder experiences, percentages of blocks should be on the order of 5-25%. Too many blocks could pose a hazard to the landing and mobility. Too few blocks could also indicate a dusty surface. Primary Landing Site: Northern Meridiani Sinus (Proposed by T. J. Parker and K., S. Edgett) Vital Statistics: (1) Latitude, Longitude: 0-3 N, 350-2 W. *Elevation (Viking): about0.5-1.5 Ian. (2) Viking Orbiter Image coverage: Excellent coverage by 15 - 25 m/pixel images (orbits 709A and 410B). Possible stereo coverage in region where two orbits overlap (probably small parallax angle, as these orbits are not listed in NASA Contractor Report 3501) (3) Albedo: about .18 -.26 (4) Block Abundance: 5-26% (5)Fine-Component Thermal Inertia: 5-9 cgs units This region consists of bright deposits similar to those described by Edgett et al, that also lie within a prominent dark albedo region. These deposits are flat-lying, to such a degree that they ramp against topography rather than draping over it. This led Edgett and Parker to suggest that they may be subaqueous sediments, possibly lacustrine or marine evaporites, laid down sometime from the late Noachian to middle Hesperian (age determination pending crater counts). A contact between this material and elevated, dissected highlands to the south was identified , and is described by Edgett et al. Our desire in proposing this landing site is to sample the edge of this deposit where it has been exposed through etching, presumably eolian deflation (the deposit, though in the highlands, is itself only lightly to moderately cratered). This should enable access to in situ stratigraphy. The actual landing site will be selected where slopes are not expected to be steep, such that the rover itself should be able to traverse them and sample layered materials on the way, either up or down the slope. Perhaps due to uncertainties at this time as to the friability or meter-scale roughness of the deposit, it might make sense to place the landing ellipse on the exhumed highland surface adjacent to the deflated margin of the deposit and plan on driving to the deposit rather than landing on it and driving downslope. This should also enable imaging the margin for evidence of layering should it prove too difficult to climb. A target ellipse on the highland surface should also allow Athena access to ancient Noachian highland materials, particularly if placed near crater ejecta or an inlier of knobby material. Secondary Landing Site: Southern Elysium Planitia (Proposed by T. J. Parker) Vital Statistics: (1) Latitude, Longitude: 1.5-3.5 S, 195-198 W. (2) Elevation (Viking): -1.0 km. (3) Viking Orbiter Image coverage: Excellent coverage by 15 - 25 m/pixel images (orbit 725). Possible stereo coverage between images from beginning and end of orbit that overlap (probably small parallax angle) (4) Albedo: about .27-.28 (5) Block Abundance: 4-7% (6) Fine-Component Thermal Inertia: about 3 cgs units This region consists of eroded knobby material, probably of Noachian age, though much of the crater population has been destroyed, that is onlapped at a sharp contact by an extensive plains unit in southern Elysium Planitia that is Amazonian in age. The plains materials have been attributed to unusually low-viscosity flood lavas from fissures south of the Elysium volcanic rise, or to lacustrine materials associated with a large, Amazonian lake at the source of Marte Vallis. Parker and Schenk presented evidence in support of the latter interpretation, though they attributed the putative shore morphology to an embayment of a northern plains ocean into the southern Elysium region. Detailed examination of the margin of the deposit, showing erosion, not simply burial, of small crater rims and fluidized ejecta blankets, also points to lacustrine or marine sedimentation rather than volcanic plains burial. The plains surface exhibits a "crusty" appearance that many researchers have attributed to pressure ridges in lava flows. In a lacustrine context, they also resemble pressure ridges in desiccated evaporite deposits and salt-rimmed pools (now dry) similar in scale and morphology to spectacular, hundred meter-scale pool rims in alkaline Lake Natron, East African Rift. The eroded highland margin surface adjacent to these plains appears to be fairly smooth, even at 15 m/pixel. Isolated knob inliers are scattered from a few kilometers to several tens of "kilometers apart. Heights of the knobs have not been measured yet but, based on experience with similar features in the Pathfinder landing ellipse, are probably typically on the order of several tens of meters high and smaller, though some of the largest knobs in the region are probably up to a few hundred meters high. Two craters larger than a kilometer in diameter, with fluidized deposits, lie nearby the proposed landing site. Very high-resolution images from MOC should help to determine whether a landing site navigable by the Athena rover could be placed in this region. The space between knobs and craters is large enough to enable placement of a target landing ellipse between them but still provide access to one or more of them and to the margin of the Elysium plains material. Post-2001 Mars Surveyor Landing Site: Argyre Planitia (Proposed by T. J. Parker) Vital Statistics: (1) Latitude, Longitude: 55-56 S, 41-43 W. (2) Elevation (Viking): 1.0 km. (3) Viking Orbiter Image coverage: Excellent coverage by 40 m/pixel images (orbits 567B, 568B, and 569B). Excellent stereo coverage with large parallax angles over the entire landing site region, and much of central and southern Argyre. (4) Albedo: about .23-.24 (5) Block Abundance: No data (6) Fine-Component Thermal Inertia: No data The floors of both the Argyre and Hellas basins contain etched layered materials that are probably thick accumulations of channel or lacustrine sediments. The deposits in Hellas are much more eroded than those in Argyre, and Hellas lacks a channel outlet. Argyre is unique in that Uzboi Vallis flowed out of the basin, requiring overflow of a standing body of water within Argyre. This makes it the largest impact basin on Mars with channels both draining into it and flowing out from it. Hellas' channels may be catastrophic flood channels, whereas Argyre was fed by modest-scale valley networks, though the outlet at Uzboi Vallis was a catastrophic flood Highland craters and basins of this kind should be high-priority landing targets for missions intended to focus on the search for either prebiotic organic materials or even simple fossil microorganisms. Basins with internally-draining valley networks should be preferred over flood channels, as they could have provided the long-term influx of water favorable to the origin of life. (Catastrophic floods are not conducive to fossil preservation, due to their very short durations and high transportation energies). They also afford an opportunity to study the evolution of the planet's climate and volatiles during the period of time between the late Noachian and early Hesperian, when a drastic change from a proposed early warm, wet climate to one more closely resembling the modern environment is thought to have occurred. Large basin

Parker, T. J.↗

Distinct Igneous APXS Rock Compositions on Mars from Pathfinder, MER and MSL

The alpha particle x-ray spectrometer (APXS) on all four Mars Rovers returned geochemical data from about 1000 rocks and soils along the combined traverses of over 50 kilometers. Here we discuss rocks likely of igneous origin, which might represent source materials for the soils and sediments identified along the traverses. Adirondack-type basalts, abundant in the plains of Gusev Crater, are primitive, olivine bearing basalts. They resemble in composition the basaltic soils encountered at all landing sites, except the ubiquitous elevated S, Cl and Zn in soils. They have been postulated to represent closely the average Martian crust composition. The recently identified new Martian meteorite Black Beauty has similar overall geochemical composition, very distinct from the earlier established SNC meteorites. The rim of the Noachian crater Endeavour, predating the sulfate-bearing Burns formation at Meridiani Planum, also resembles closely the composition of Adirondack basalts. At Gale Crater, the MSL Curiosity rover identified a felsic rock type exemplified by the mugearitic float rock JakeM, which is widespread along the traverse at Gale. While a surprise at that time, possibly related more evolved, alkaline rocks had been previously identified on Mars. Spirit encountered the Wishstone rocks in the Columbia Hills with approx. 6% Na2O+K2O, 15 % Al2O3 and low 12% FeO. Pathfinder rocks with elevated K and Na and >50% SiO2 were postulated to be andesitic. Recently Opportunity encountered the rock JeanBaptisteCharbonneau with >15% Al2O3, >50% SiO2 and approx. 10% FeO. A common characteristic all these rocks is the very low abundance of Cr, Ni and Zn, and an Fe/Mn ratio of about 50, indicating an unaltered Fe mineralogy. Beside these likely igneous rock types, which occurred always in several rocks, a few unique rocks were encountered, e.g. Bounce Rock, a pyroxene-bearing ejecta rock fragment resembling the Shergottite EETA 79001B meteorite. The APXS data can be used to relate the findings of all 4 landing sites, constrain the water to rock ratio of sediments or imply source rock provenance. Beyond that the capability to quantify important volatile elements like P, S, Cl, and Br have provided new insights into the chemistry and the environment present during the formation of the sediments.

Gellert, Ralf↗

Pathfinder landing sites at candidate SNC impact ejection sites

If Mars Pathfinder were able to land at a site on Mars from which the SNC meteorites were ejected by impact, the Pathfinder mission would essentially represent a very inexpensive sample return mission. Geologic units that contain four potential impact craters from which SNC meteorites could have been ejected from Mars are accessible to the Mars Pathfinder lander. Determining that SNC meteorites came from a particular spot on Mars raises the intriguing possibility of using Pathfinder as a sample return mission and providing a radiometric age for the considerably uncertain martian crater-age timescale. Pathfinder instruments are capable of determining if the rock type at the landing site is similar to that of one or more of the SNC meteorites, which would strengthen the hypothesis that the SNC meteorites did, in fact, come from Mars. Unfortunately, instrument observations from Pathfinder are probably not capable of determining if the geologic unit sampled by the lander is definitively the unit from which a SNC meteorite came from as opposed to Mars in general or perhaps a particular region on Mars. This abstract evaluates the possibility of landing at potential SNC ejection sites and the ability of Pathfinder to identify the landing site as the place from which an SNC meteorite came.

Golombek, Matthew P.↗

Application of non-coherent Doppler data types for deep space navigation

Recent improvements in computational capability and Deep Space Network technology have renewed interest in examining the possibility of using one-way Doppler data alone to navigate interplanetary spacecraft. The one-way data can be formulated as the standard differenced-count Doppler or as phase measurements, and the data can be received at a single station or differenced if obtained simultaneously at two stations. A covariance analysis is performed which analyzes the accuracy obtainable by combinations of one-way Doppler data and compared with similar results using standard two-way Doppler and range. The sample interplanetary trajectory used was that of the Mars Pathfinder mission to Mars. It is shown that differenced one-way data is capable of determining the angular position of the spacecraft to fairly high accuracy, but has relatively poor sensitivity to the range. When combined with single station data, the position dispersions are roughly an order of magnitude larger in range and comparable in angular position as compared to dispersions obtained with standard data two-way types. It was also found that the phase formulation is less sensitive to data weight variations and data coverage than the differenced-count Doppler formulation.

Bhaskaran, Shyam↗

The application of noncoherent Doppler data types for Deep Space Navigation

Recent improvements in computational capability and DSN technology have renewed interest in examining the possibility of using one-way Doppler data alone to navigate interplanetary spacecraft. The one-way data can be formulated as the standard differenced-count Doppler or as phase measurements, and the data can be received at a single station or differenced if obtained simultaneously at two stations. A covariance analysis, which analyzes the accuracy obtainable by combinations of one-way Doppler data, is performed and compared with similar results using standard two-way Doppler and range. The sample interplanetary trajectory used was that of the Mars Pathfinder mission to Mars. It is shown that differenced one-way data are capable of determining the angular position of the spacecraft to fairly high accuracy, but have relatively poor sensitivity to the range. When combined with single-station data, the position dispersions are roughly an order of magnitude larger in range and comparable in angular position as compared to dispersions obtained with standard two-way data types. It was also found that the phase formulation is less sensitive to data weight variations and data coverage than the differenced-count Doppler formulation.

Bhaskaran, S.↗

Mars Mobile Lander Systems for 2005 and 2007 Launch Opportunities

A series of Mars missions are proposed for the August 2005 launch opportunity on a medium class Evolved Expendable Launch Vehicle (EELV) with a injected mass capability of 2600 to 2750 kg. Known as the Ranger class, the primary objective of these Mars mission concepts are: (1) Deliver a mobile platform to Mars surface with large payload capability of 150 to 450 kg (depending on launch opportunity of 2005 or 2007); (2) Develop a robust, safe, and reliable workhorse entry, descent, and landing (EDL) capability for landed mass exceeding 750 kg; (3) Provide feed forward capability for the 2007 opportunity and beyond; and (4) Provide an option for a long life telecom relay orbiter. A number of future Mars mission concepts desire landers with large payload capability. Among these concepts are Mars sample return (MSR) which requires 300 to 450 kg landed payload capability to accommodate sampling, sample transfer equipment and a Mars ascent vehicle (MAV). In addition to MSR, large in situ payloads of 150 kg provide a significant step up from the Mars Pathfinder (MPF) and Mars Polar Lander (MPL) class payloads of 20 to 30 kg. This capability enables numerous and physically large science instruments as well as human exploration development payloads. The payload may consist of drills, scoops, rock corers, imagers, spectrometers, and in situ propellant production experiment, and dust and environmental monitoring.

Sabahi, D.↗

High Temperature mechanically pumped fluid loop for space applications - working fluid selection

Mechanically pumped single-phase fluid loops are increasingly being used for heat rejection purposes in space applications. Examples of Earth orbiting missions using this technology include NSTS Shuttles (water and Freon-based loops) and the International Space Station (water and ammonia-based loops). For deep space missions, both the Mars Pathfinder (1996) and Mars Exploration Rover (2003) missions used mechanically pumped Freon-I 1 loops for their primary Heat Rejection Systems (HRS.) Mechanically pumped loops are particularly well suited for rejecting large amounts of waste heat from spacecraft and future missions incorporating components with extremely high thermal energy dissipation (e.g. radar instruments, Radioisotope-based power sources) are ideal candidates for their use. However, previous implementations of mechanically pumped loops were designed for moderate temperatures (below 6OOC) and, thus, would require relatively large radiators to reject high heat loads to space. Loops designed for a higher operating temperature would allow large amounts of heat to be rejected within the constraints of a mass efficient thermal control system.

high temperature↗

Tough Textiles Protect Payloads and Public Safety Officers

In order to create the Mars Pathfinder s mission-critical airbags in the 1990s, NASA s Jet Propulsion Laboratory collaborated with New Ipswich, New Hampshire s Warwick Mills Inc. to weave multi-layer textiles for the airbags for both Pathfinder and the Mars Exploration Rovers. Warwick Mills applied techniques from the collaboration to its puncture- and impact-resistant TurtleSkin product line. The company's metal flex armor (MFA) vests offer stab protection comparable with rigid steel plates and over 50,000 of the vests have sold. The SoftPlate body armor offers protection from handgun bullets, and like the MFA, is designed to be more comfortable than rigid vests. International public safety and military customers are now benefiting from the TurtleSkin products.

Source record↗

Planetary Image Geometry Library

The Planetary Image Geometry (PIG) library is a multi-mission library used for projecting images (EDRs, or Experiment Data Records) and managing their geometry for in-situ missions. A collection of models describes cameras and their articulation, allowing application programs such as mosaickers, terrain generators, and pointing correction tools to be written in a multi-mission manner, without any knowledge of parameters specific to the supported missions. Camera model objects allow transformation of image coordinates to and from view vectors in XYZ space. Pointing models, specific to each mission, describe how to orient the camera models based on telemetry or other information. Surface models describe the surface in general terms. Coordinate system objects manage the various coordinate systems involved in most missions. File objects manage access to metadata (labels, including telemetry information) in the input EDRs and RDRs (Reduced Data Records). Label models manage metadata information in output files. Site objects keep track of different locations where the spacecraft might be at a given time. Radiometry models allow correction of radiometry for an image. Mission objects contain basic mission parameters. Pointing adjustment ("nav") files allow pointing to be corrected. The object-oriented structure (C++) makes it easy to subclass just the pieces of the library that are truly mission-specific. Typically, this involves just the pointing model and coordinate systems, and parts of the file model. Once the library was developed (initially for Mars Polar Lander, MPL), adding new missions ranged from two days to a few months, resulting in significant cost savings as compared to rewriting all the application programs for each mission. Currently supported missions include Mars Pathfinder (MPF), MPL, Mars Exploration Rover (MER), Phoenix, and Mars Science Lab (MSL). Applications based on this library create the majority of operational image RDRs for those missions. A Java wrapper around the library allows parts of it to be used from Java code (via a native JNI interface). Future conversions of all or part of the library to Java are contemplated.

Deen, Robert C.↗

Ablators - From Apollo to Future Missions to Moon, Mars and Beyond

Apollo was designed to carry astronauts safely back from the Moon at return speeds exceeding 11 km/s and requireddevelopment of a new ablative thermal protection system (TPS) to protect the capsule from entry heating. Mercuryand Gemini, that preceded Apollo, were focused on Earth orbiting system demonstration and lessons learned fromthem were used in Apollo. The ablative material and associated system development for Lunar return conditionsrequired considerable ground and flight testing. Mars Viking Lander missions required a new lighter weight ablatoras entry heating was benign compared to Apollo. Pioneer-Venus and Galileo Probe missions required a new and morecapable ablator than Apollo. After two decades, Mars Pathfinder followed by Mars Exploration Rover missions,smaller than Viking but more demanding, were able to use Viking ablative TPS. At the same time, advances in manufacturing and materials technology led to development of innovative lightweight ablators. These new ablators enabled Stardust and Genesis Sample Return Missions. Around the turn of this century, NASA decided on a scaled-upversion of the Apollo capsule for human exploration of Moon and Mars and the ablative heat shield to protect the CrewExploration Vehicle ended up being the Apollo ablative TPS. The Artemis 1 mission is currently fitted with tiledsystem, different than Orion EFT-1 but with the Apollo ablative material as a result of lessons learned. NASA iscurrently planning on sample return missions from Mars, and this will require robust ablative TPS that can providehigher reliability than any other past mission. There are still unexplored high scientific value destinations in the solarsystem. In situ exploration of Uranus, Neptune, Saturn and sample return missions with return speed much higher thanStardust will require ablators capable of withstanding extreme entry that are also efficient. New ablative TPS havebeen developed in anticipation of these future missions. This paper is intended to tell the story of these ablators,illustrated through examples. We see the use of flight proven ablators was sometimes a risky proposition and newablators perceived to be higher risk have proved otherwise. The history of ablators illustrates the challenges eachmission had to address, either through the use of flight proven or new ablative TPS, to be successful.

Venkatapathy, Ethiraj↗

Application of Non-Coherent Doppler Data Types for Deep Space Navigation

improvements in computational capability and DSN technology have renewed interest in examining the possibility of using one-way Doppler data alone to navigate interplanetary spacecraft. The one-way data can be formulated as the standard difference-count Doppler or as phase measurements, and the data can be received at a single station or differenced if obtained simultaneously at two stations. A covariance analysis is performed which analyzes the accuracy obtainable by combinations of one-way Doppler data and compared with similar results using standard tow-way Doppler and range. The sample interplanetary trajectory used was that of the Mars Pathfinder mission to Mars. It is shown that differenced one-way data is capable of determining the angular position of the spacecraft to fairly high accuracy, but has relatively poor sensitivity to the range. When combined with single station data, the position dispersions are roughly an order of magnitude larger in range and comparable in angular position as compared to dispersions obtained with standard data two-way types. It was also found that the phase formulation is less sensitive to data weight variations and data coverage than the differenced-count Doppler formulation.

Deep↗