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NASA NTRSDate not supplied

A Study of Past, Present, and Future Mars Rotorcraft

Interest in utilizing rotorcraft to explore Mars is expected to increase following the anticipated successful technical demonstration of the Mars Helicopter, Ingenuity, during the Mars 2020 mission. Previously, science investigations have been limited by either the instrumentation resolution on orbiters or the roughness/accessibility of terrain a rover can traverse. Rotorcraft can enable low-altitude flight over and on-surface exploration at previously inaccessible locations. This paper describes potential mission concepts designed to utilize the unique capabilities of rotorcraft to advance the science performed in extraterrestrial environments. This includes missions tailored for investigating if Mars ever supported life, understanding climate processes and history, determining the evolution of Martian geology, and preparing for human exploration. The Mars rotorcraft mission concepts described in this paper can be divided into two categories: rover-assisted missions and independent (rotorcraft-only) missions. A number of concept vehicles, consistent with these proposed missions, are also discussed.

Study↗
NASA NTRS2024

Experimental Results for Mars Rotorcraft Airfoils (roamx-0201 and clf5605) at Low Reynolds Number and Compressible Flow in a Mars Wind Tunnel

Experimental results are obtained for a roamx-0201 type airfoil and the clf5605 airfoil at highsubsonic, low Reynolds number conditions using the Tohoku University Mars Wind Tunnel, Japan. The tests are conducted at a Mach number of M = 0.60, and a Reynolds number of Re = 20,000 to reflect representative aerodynamics of a rotor blade for Mars exploration. The angle of attack is varied between α = −2.0 deg and α = 6.0 deg. The roamx-0201 type airfoil is an unconventional airfoil optimized for the chosen tunnel operating conditions using the Evolutionary aLgorithm for Iterative Studies of Aeromechanics (ELISA), developed under the Rotor Optimization for the Advancement of Mars eXploration (ROAMX) project. ELISA is utilized here to optimize aerodynamic airfoil performance using a Genetic Algorithm and two-dimensional high-fidelity CFD simulations, ultimately resulting in a Pareto-optimal airfoil set. The clf5605 airfoil is the outboard airfoil used on the Ingenuity Mars Helicopter and provides a baseline against which the roamx-0201, as well as possible future airfoil profiles for the compressible low Reynolds number regime, can be compared against. Lift and drag data are recorded using a balance, pressure distributions are obtained using Pressure Sensitive Paint (PSP) application, and Schlieren images are obtained to visualize the flowfield. The data is tabulated to aid future research.

Roamx↗
NASA NTRSDate not supplied

The Future of Rotorcraft and other Aerial Vehicles for Mars Exploration

The Ingenuity Mars Helicopter is a technology demonstrator. The hope is that Ingenuity will one day lead to future generations of ever-more capable rotorcraft and other aerial vehicles for Mars exploration and other planetary science missions. This paper builds upon nearly twenty-four years of Mars rotorcraft and planetary aerial vehicle work at NASA Ames Research Center. It is posited that a spectrum of different Mars aerial vehicle mission concepts and capabilities could be developed over the next couple of decades – all of which are now potentially enabled by Ingenuity. A series of technology challenges or problems are also detailed in this paper. These problems are presented as an aid in helping establish a nascent planetary rotorcraft or planetary aerial vehicle research community as well as, maybe, helping realize some of the vehicle/mission concepts discussed in the paper.

Rotorcraft↗
NASA NTRSDate not supplied

Overview and Introduction of the Rotor Optimization for the Advancement of Mars eXploration (ROAMX) Project

Research in pursuit of rotorcraft flight on Mars has been ongoing since the late 1990s at NASA Ames Research Center. Since then, many other organizations have also begun researching rotary-wing flight on Mars. In 2014, the project that led to the first helicopter to fly on Mars began at the Jet Propulsion Laboratory. Ingenuity was developed as a joint effort between JPL, NASA Ames, NASA Langley, and AeroVironment. The Ingenuity Mars Helicopter made history in April 2021 as the first vehicle demonstrating controlled, powered flight on another planet and, in doing so, it has opened a new era of planetary aviation. Future, more capable Mars rotorcraft will be able to fly even further and carry significant science payload. At NASA Ames, through NASA Space Technology Mission Directorate funding, the research necessary to help develop the next generation of Mars rotorcraft has begun with the Rotor Optimization for the Advancement of Mars eXploration (ROAMX) project. The ROAMX project involves computationally and experimentally investigating aerodynamically efficient, compressible, low-Reynolds number airfoils for rotor blades and, further, new high-performance rotor designs. ROAMX is also developing and validating a rotor design methodology to optimize blades given specific mission requirements. The primary experimental effort of the ROAMX project is focused on rotor hover performance, but subsequent airfoil and rotor design advances are anticipated to carry over into improvements in forward flight efficiency. ROAMX is a collaboration between NASA Ames, JPL, the University of Maryland, AeroVironment, and Tohoku University.

Rotor Optimization for the Advancement of Mars eXp↗
NASA NTRSDate not supplied

Design Considerations for a Mars Highland Helicopter

Mars is sharply divided into the relatively low-lying northern hemisphere, filled with plains, to the higher-elevation, rugged, southern hemisphere. All landers sent so far to Mars have only landed on the plains of the northern hemisphere. Access to the Martian Highlands would present an opportunity to acquire unique insights into the early geologic history of Mars. But landing on the Martian highlands presents many engineering challenges. A new approach has recently been proposed to consider the use of mid-air deployment, during the final subsonic stages of entry, descent, and landing, of a small rotorcraft from the aeroshell. The rotorcraft would enter a powered descent state (rotors would be spun to full speed at moderate collectives) after aeroshell release until reaching a modest altitude above the ground where the vehicle would pullout to level flight. After completing this initial EDL mid-air-deployment and landing, the rotorcraft, which would be capable of solar-electric recharging, would recharge over the course of a few days until ready for subsequent flight sorties to explore the highlands. This overall vehicle/mission concept is called the Mars Highland Helicopter. The paper will next demonstrate that a key necessary condition – efficient hover and forward flight under the much thinner atmospheric conditions of the highlands (0.01 kg/m3 vs. 0.015 kg.m3 for the Ingenuity Mars Helicopter Technology Demonstrator at Jezero Crater) – is indeed possible. This paper considers a number of EDL release/deployment strategies to minimize deployment aeroloads and maximize controllability during release from the EDL backshell. This mid-air-deployment discussion will be followed by a general analytical treatment of a Mars rotorcraft entering fully-powered descent and then forward flight cruise.

Mars Highland Helicopter↗
NASA NTRSDate not supplied

Mars Science Helicopter: Conceptual Design of the Next Generation of Mars Rotorcraft

Robotic planetary aerial vehicles increase the range of terrain that can be examined, compared to traditional landers and rovers, and have more near-surface capability than orbiters. Aerial mobility is a promising possibility for planetary exploration as it reduces the challenges that difficult obstacles pose to ground vehicles. The first use of a rotorcraft for a planetary mission will be in 2021, when the Ingenuity Mars helicopter technology demonstrator will be deployed via the Perseverance rover. NASA’s Jet Propulsion Laboratory and NASA Ames Research Center are exploring possibilities for a Mars Science Helicopter, a second-generation Mars rotorcraft with the capability of conducting science investigations independently of a lander or rover (although this type of vehicle could also be used to assist rovers or landers in future missions). Two, large rotorcraft configurations are described: a hexacopter and a co-axial helicopter with a payload in the range of two to three kilograms and an overall vehicle mass of approximately twenty kilograms. Additionally, advancements in technology over the course of the study are applied to a rotorcraft of the same size and form as Ingenuity. Initial estimates of weight and performance were based on the capabilities of Ingenuity. Rotorcraft designs for Mars are constrained by the dimensions of the aeroshell and lander for the trip to the planet, constraining maximum rotor dimensions and, hence, overall performance potential. The effects of airfoils designed specifically for the low Reynolds number and high Mach number inherent to operation on Mars were studied. Rotor structural designs were developed that met blade frequency and weight targets, subject to material stress limits. The final designs are representative of the vehicle configurations required for a large range of future missions and will require relatively minor adaptations once science tasks are chosen. These designs will be compared to Ingenuity to demonstrate technology advancements developed during the study.

Mars Science Helicopter↗
NASA NTRSDate not supplied

LILI (Long-term Ice-field Levitating Investigator): Mars Aerial and Ground Explorer for Martian Polar Regions

Exploration of Mars is currently underway by use of a rover and helicopter team. A hybrid ground/aerial vehicle concept that marries the respective strengths of rovers and rotorcraft for Mars exploration is presented in this paper. LILI (Long-term Ice-field Levitating Investigator) is a novel hybrid ground- and aerial-mobility concept vehicle proposed for exploration of the Martian polar regions. LILI combines episodic rotary-wing flight with primary ground-mobility-mode of a propeller-driven sled via an arrangement of three skis/runners and tilting proprotors. In this manner, the best of both worlds can be achieved for Mars polar exploration: rapid, obstacle-bypassing flight with low-power, efficient, longer duration -- and range -- sledding. LILI’s propulsion system is based on solar-electric recharging of batteries. Consequently, periods of its air or ground movement are separated by periods of recharging. The overall project goal is to refine the vehicle and mission concept, while constrained within the current technology state of the art, and, leveraging the design heritage of the Ingenuity Mars Helicopter technology demonstrator. LILI’s aerodynamic performance, flow interactions, and design characteristics, as well as potential mission profiles are suggested.

LILI↗
NASA NTRS2022

FPP: A Modeling Language for F Prime

We present F Prime Prime (FPP), a new open-source modeling language for F Prime. F Prime is an open-source flight software framework developed at JPL and deployed, among other places, on the Mars helicopter Ingenuity. FPP provides a convenient way to model the architectural elements of an F Prime application, e.g., components, ports, and their connections. It has a succinct and readable syntax, a well- defined semantics, and robust error checking and reporting. The FPP tool suite, written in Scala, analyzes FPP models, reports errors, and translates correct FPP models to a combination of XML and C++. Existing F Prime tools translate the XML to a partial implementation in C++, to be completed by the developers. The model elements have clean interfaces and are highly reusable. An accompanying visualization tool constructs diagrams of components and connections that FSW developers can use to understand and communicate their designs, for ex- ample at reviews. We discuss the design and implementation of FPP and the integration of FPP into F Prime. We also discuss our experience using FPP to construct F Prime models. Finally, we discuss our plans for future work, including improved code generation, improved visualization, and more advanced analysis capabilities.

Starch, Michael D.↗
NASA NTRS2022

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.↗
NASA NTRSDate not supplied

Comprehensive Analysis Aeroelastic Stability Predictions for the Mars Sample Recovery Helicopters and Ingenuity

A rotorcraft comprehensive analysis was used to generate aeroelastic stability predictions for both Ingenuity and the Mars Sample Recovery Helicopters. The analysis was performed multiple times for each rotor system with sequential increases to the level of modeling complexity. Initial cases used an independent blade analysis, trim inflow distribution, no airframe degrees of freedom, and a hover condition (a time-invariant problem). The final model used all blades, dynamic inflow, airframe degrees of freedom, and a Floquet theory approach to the flutter analysis. The approach of sequentially increasing modeling complexity was employed to ensure the causes of any observed instabilities could be identified. For each case, stability results were determined across a range of air densities, tip Mach numbers, and rotor collective pitch settings. For the Sample Recovery Helicopter, a forward flight condition analysis with the highest level of modeling complexity was also performed. The aeroelastic stability predictions showed both the Ingenuity and Sample Recovery Helicopter rotor systems to be stable for all analyzed conditions. Parameter excursions of structural properties were performed to explore conditions resulting in aeroelastic instabilities.

Aeroelastic↗
NASA NTRSDate not supplied

Rotor Performance Predictions of a Next Generation Mars Science Helicopter

Since Ingenuity took flight and proved aerial capabilities on Mars, the horizon for rotorcraft on the Red Planet has only expanded. One proposed future Martian rotorcraft is the Mars Science Helicopter (MSH). The MSH is a hexacopter capable of carrying scientific payloads. As a part of its joint development by NASA Ames Research Center (ARC) and the Jet Propulsion Laboratory (JPL), key MSH rotor components will be tested inside the in-development Reduced Atmospheric Pressure Testing Of Rotors (RAPTOR) wind tunnel in the Planetary Aeolian Laboratory (PAL) at NASA ARC. In preparation for the test, the Comprehensive Hierarchical Aeromechanics Rotorcraft Model (CHARM) analysis was utilized to predict the aerodynamic performance for one MSH hexacopter isolated rotor. This paper provides an overview of the planned experiments involving the MSH reference blades, as well as CHARM pretest predictions of rotor performance in hover and forward flight. Additionally, the interference effects of wind tunnel walls on rotor performance will be evaluated to inform the test matrix of the upcoming test in the RAPTOR tunnel.

MHS↗
NASA NTRS2022

Benchmarking and Testing of Qualcomm Snapdragon System-on-Chip for JPL Space Applications and Missions

As some space missions become more challenging due to new environments, greater distances, or more limited size, weight, and power (SWaP) constraints, spacecraft avionics must adapt to allow the spacecraft to be more autonomous and agile---eliminating the Spacecraft-Earth-Spacecraft feedback loop whenever possible. Prime examples of such missions include Aerobots (such as Ingenuity with extremely low SWaP constraints and demanding signal/image processing during flight) and landers in possibly hostile environments (such as a Europa lander mission, with limited communication capacity, high latency, and constrained power budget). To address these challenges, JPL worked with Qualcomm to demonstrate the use of their Snapdragon 801 system-on-chip (SoC) onboard the Ingenuity Helicopter on Mars. The Qualcomm Snapdragon SoC contains various subsystems, including an ARM cluster, a Graphics processing unit, a Digital Signal Processing subsystem, a Neural Processing Engine, Image Signal Processing subsystem, among others. Since the success of Ingenuity, JPL is continuing to work with Qualcomm to address other applications of the Snapdragon SoC technology. This includes the deployment of two 855 Snapdragon development boards onboard the International Space Station (ISS) for successful in-situ benchmarking of applications in space (beyond those tested on Ingenuity). In this paper, we will examine the performance of various applications that have been identified to benefit from greater onboard computational capability. These applications include (among others): machine vision algorithms that are expected to be critical in autonomous entry-descent-and-landing scenarios and real-time Aerobot flight navigation; Hyperspectral compression algorithms; Synthetic Aperture Radar Processing along with various instrument processing algorithms. We discuss how the infusion of Qualcomm's Snapdragon SoC is capable of enabling missions that may not have been able to achieve their goals with traditional flight computing. In addition, we also show that for some algorithms, the software implementation on the Snapdragon SoC outperforms traditional FPGA implementations.

Cretu, Vlad↗
NASA NTRSDate not supplied

Performance Analysis and Data Processing for the Mars Sample Recovery Helicopter in the Jet Propulsion Laboratory 25-ft Space Simulator

On April 19, 2021, Ingenuity became the first helicopter to fly on Mars at Jezero Crater, completing a total of 72 flights by the end of its mission. The success of Ingenuity resulted in various research efforts to further explore Mars via vertical flight, including two optimized Ingenuity-sized helicopters proposed to retrieve samples for the 2028 Mars Sample Return mission. To aid in the design process for the two proposed Sample Retrieval Helicopters, both heritage and optimized, increased diameter rotors were tested at the NASA Jet Propulsion Laboratory in the 25-ft Space Simulator. Three test campaigns were performed using the Ingenuity rotors and optimized Sample Retrieval Helicopter (SRH) rotors for several rotor speeds, densities, configurations, and collectives to identify performance limitations. These three test campaigns included the Ingenuity Engineering Design Model 1 (EDM-1) with and without a cruciform box, Transonic Rotor Test (TRT) rig, and SRH Dual Rotor Test (DRT). Experimental setup, test matrix, data processing, data quality, and performance results for EDM-1, TRT, and DRT campaigns are presented and discussed. Experimental results from the test campaigns will aid in future experimental methods and validation efforts for planetary rotorcraft exploration.

Data Processing↗
NASA NTRSDate not supplied

Feasibility Study of a Robotic Science Arm on Future Martian Rotorcraft

Science arms are indispensable tools for planetary exploration, allowing vehicles to interact with and manipulate their surroundings in a manner similar to a human field geologist. A majority of the rovers and landers sent to Mars, beginning with Viking I and II in 1976, have made extensive use of these articulated, arm-like devices that allow for sample collection, surface preparation, instrument positioning, and the deployment of ground-contact sensors. Although proven useful, traditional rovers and landers are limited by the rough and difficult terrain of Mars. However, given the successful demonstration of flight on Mars by the Ingenuity helicopter, efforts are underway to outfit larger rotorcraft with science payloads to allow them to explore Mars’ surface and lower atmosphere with significantly more efficiency than land vehicles. Such vehicles could also be designed to work in tandem with landers or rovers. The Mars Science Helicopter (MSH) is a conceptual hexacopter design that is currently under early development by both NASA Ames and JPL. Equipping a vehicle like MSH with a science arm has the potential to further expand its scientific capabilities. This paper approaches the mission and design requirements to equip a science arm on MSH while highlighting the unique technical challenges for robotic arm and science instrument capability. Current plans for MSH development do not include the addition of a robotic arm to the vehicle. However, it is anticipated that future variants of the MSH design might well incorporate such adaptable surface interactive capabilities.

Robotic Science Arm↗
NASA NTRSDate not supplied

Mars 2020 – Landing a 1-ton rover and helicopter in an ancient Martian Lake

The Mars 2020 spacecraft launched in July 2020 and landed the Perseverance rover and Ingenuity helicopter successfully in Jezero crater on Feb. 18, 2021. Mars 2020 is the first stage of the Mars Sample Return campaign that will bring back the first samples from another planet to Earth. The entry, descent, and landing (EDL) sequence of the Mars 2020 spacecraft largely leveraged the previous Mars Science Laboratory (MSL) mission from 2012. Mars 2020 retained most of the EDL sequences of MSL, including active maneuvering during hypersonic flight to accurately target the landing site and use of the Skycrane descent stage that slowly lowered the rover while hovering above the ground. But Mars 2020 also added Terrain Relative Navigation, a machine vision-based system that allowed the spacecraft to navigate using an on-board camera that mapped ground landmarks to an on-board map, allowing the spacecraft to safely land in locations that were too hazardous for any previous Martian mission. Come hear about the “Seven Minutes of Terror” and the eight years of effort that went into the engineering behind the spacecraft.

Soumyo Dutta↗