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Task Adaptive Walking Robots for Mars Surface Exploration
There are exciting opportunities for robot science that lie beyond the reach of current manipulators, rovers, balloons, penetrators, etc. Examples include mobile explorations of the densely cratered Mars highlands, of asteroids, and of moons. These sites are believed to be rich in geologic history and mineralogical detail, but are difficult to robotically access and sample. The surface terrains are rough and changeable, with variable porosity and dust layering; and the small bodies present further challenges of low-temperature, micro-gravity environments. Even the more benign areas of Mars are highly variegated in character (>VL2 rock densities), presenting significant risk to conventional rovers. The development of compact walking robots would have applications to the current mission set for Mars surface exploration, as well as enabling future Mars Outpost missions, asteroid rendezvous missions for the Solar System Exploration Program (SSE) and the mechanical assembly/inspection of large space platforms for the Human Exploration and Development of Spaces (HEDS).
Survey for Life-related Species During a Planetary Surface Exploration; System Type I - UV Stimulated Fluorescent Sensor
The widely accepted minimum requirements for life on Earth include the presence of water and accessible sources of carbon. We assume that the same criteria must hold for putative life on past or present Mars. The evidence for CO2 and H2O at or near the Martian surface, carbon in Martian meteorites, aqueous alteration, and probable hydrothermal activity suggest that conditions conducive to the origin and evolution of life on Mars may have existed for long periods of time and may still obtain at present. Surface exploration on Mars that enables the direct detection of water in minerals and of organic carbon (including not just organic and biogenic materials but their degradation products such as kerogen-like hydrocarbons and graphitized carbon) that might be products or residues of biologic activity, is crucial. The search for evidence of life, past or present, will nevertheless be difficult. The lack of direct evidence for organic carbon and the low amounts of water found in the soils at the Viking sites demonstrated the difficulties. Recent results of GRS experiment of Odyssey mission indicated the existence of abundant water ice beneath the Mars surface. Mineralogical evidence for the presence of carbonate, sulfates, or clay minerals, products of weathering and aqueous deposition, have not been identified unambiguously on Mars. Rocks such as shales and, more particularly, limestones, which we associate with moist and benign environments on Earth, are evidently not abundant. Presumably, then, neither were the photosynthetic organisms that might have produced them. In addition, the harsh present environment on Mars (e.g., dryness, low temperatures, large temperature cycles, high level of UV light on the surface, frequent dust storms, etc.) can both destroy carbon- and water-bearing materials and hide them. Therefore, directly detecting life-related materials on Mars was likened to seeking and examining proverbial needles in haystacks. We argue that survey type instruments, that can frequently and quickly check a relatively large amount of material at many locations during a mission, are essential.
Adaptive Bio-Inspired Wireless Network Routing for Planetary Surface Exploration
Wireless mobile networks suffer connectivity loss when used in a terrain that has hills, and valleys when line of sight is interrupted or range is exceeded. To resolve this problem and achieve acceptable network performance, we have designed an adaptive, configurable, hybrid system to automatically route network packets along the best path between multiple geographically dispersed modules. This is very useful in planetary surface exploration, especially for ad-hoc mobile networks, where computational devices take an active part in creating a network infrastructure, and can actually be used to route data dynamically and even store data for later transmission between networks. Using inspiration from biological systems, this research proposes to use ant trail algorithms with multi-layered information maps (topographic maps, RF coverage maps) to determine the best route through ad-hoc network at real time. The determination of best route is a complex one, and requires research into the appropriate metrics, best method to identify the best path, optimizing traffic capacity, network performance, reliability, processing capabilities and cost. Real ants are capable of finding the shortest path from their nest to a food source without visual sensing through the use of pheromones. They are also able to adapt to changes in the environment using subtle clues. To use ant trail algorithms, we need to define the probability function. The artificial ant is, in this case, a software agent that moves from node to node on a network graph. The function to calculate the fitness (evaluate the better path) includes: length of the network edge, the coverage index, topology graph index, and pheromone trail left behind by other ant agents. Each agent modifies the environment in two different ways: 1) Local trail updating: As the ant moves between nodes it updates the amount of pheromone on the edge; and 2) Global trail updating: When all ants have completed a tour the ant that found the shortest route updates the edges in its path.
Long Duration Medical System Foundation for Lunar Orbital and Lunar Surface Exploration Missions
For long-duration lunar orbital and lunar surface (LDLOS) exploration missions, the NASA Human Research Program (HRP) Exploration Medical Capability (ExMC) Element has developed a medical system foundation through which clinical considerations may be represented via a systems engineering-based model. Components of the Long Duration Medical System Foundation model include a concept of operations (ConOps), functional decomposition, medical conditions to be addressed, clinical capabilities and resources, technical requirements, and traces of requirements to NASA standards documents and parent-level (Program- and Vehicle habitat system-level) requirements. The Foundation model offers the means to present information in a readily accessible format that is understandable across all clinical, engineering, scientific, and managerial disciplines. Collectively, these components constitute a foundation that serves future programs with similar long duration mission profiles as a starting point for medical system design. The Foundation was developed by a multidisciplinary team of systems engineers, scientists, and clinicians across NASA. The process started with ConOps development, subsequently decomposed into the functionalities needed to diagnose, treat, and prevent medical conditions. The clinical team identified medical conditions most likely needed to be diagnosed and treated during a long-duration lunar exploration mission. Through these approaches, requirements were codified for the LDLOS medical system. These requirements were then traced to NASA standards, medical conditions, medical capabilities, and medical resources, facilitating stakeholders’ use of the Foundation model to analyze traces and to identify medical system interfaces with other vehicle systems or subsystems. In addition, the Foundation may be used as a basis for performing risk trades on medical system mass and volume allocation. This discussion will focus on the processes through which the LDLOS Medical System Foundation was developed, how the Foundation builds a bridge between the medical and engineering domains, and how these processes may be applied more broadly to a crew health and performance system and other system domains.
Using Earth-based Operational Field Tests as High-Fidelity Analogs for Planetary Surface Exploration
NASA is preparing to land the first woman and first person of color on the Moon within the next decade and establish a permanent sustainable human presence before sending humans onto Mars. To ensure the success of these missions, NASA has performed operational testing in terrestrial, aquatic, and laboratory analog environments that simulate Lunar and Martian environmental characteristics to evaluate exploration concepts of operations (ConOps), engineering design requirements, science support needs, mission operations techniques, and crew training. Terrestrial analogs include Desert Research and Technology Studies (D-RATS), Biologic Analog Science Associated with Lava Terrains (BASALT), and Next Space Technologies for Exploration Partnerships (NextSTEP)Habitat Ground Testing. Aquatic analogs include NASA Extreme Environment Mission Operations (NEEMO) and Pavilion Lake Research Project (PLRP).Laboratory analogs include the Neutral Buoyancy Laboratory (NBL), Active Response Gravity Offload System(ARGOS), rock yards, and virtual and hybrid reality simulation environments. While no single Earth-based analog environment is perfect for simulating all characteristics of other planetary surfaces, testing across multiple locations leverages the strengths of each to provide an integrated understanding of how to best conduct real spaceflight surface exploration missions.
A Review of the Handheld X-Ray Fluorescence Spectrometer as a Tool for Field Geologic Investigations on Earth and in Planetary Surface Exploration
X-ray fluorescence (XRF) spectroscopy is a well-established and commonly used technique in obtaining diagnostic compositional data on geological samples. Recently, developments in X-ray tube and detector technologies have resulted in miniaturized, field-portable instruments that enable new applications both in and out of standard laboratory settings. These applications, however, have not been extensively applied to geologic field campaigns. This study investigates the feasibility of using developing handheld XRF (hXRF) technology to enhance terrestrial field geology, with potential applications in planetary surface exploration missions. We demonstrate that the hXRF is quite stable, providing reliable and accurate data continuously over a several year period. Additionally, sample preparation is proved to have a marked effect on the strategy for collecting and assimilating hXRF data. While the hXRF is capable of obtaining data that are comparable to laboratory XRF analysis for several geologically-important elements (such as Si, Ca, Ti, and K), the instrument is unable to detect other elements (such as Mg and Na) reliably. While this limits the use of the hXRF, especially when compared to laboratory XRF techniques, the hXRF is still capable of providing the field user with significantly improved contextual awareness of a field site, and more work is needed to fully evaluate the potential of this instrument in more complex geologic environments.
Traverse Planning Experiments for Future Planetary Surface Exploration
The purpose of the investigation is to evaluate methodology and data requirements for remotely-assisted robotic traverse of extraterrestrial planetary surface to support human exploration program, assess opportunities for in-transit science operations, and validate landing site survey and selection techniques during planetary surface exploration mission analog demonstration at Haughton Crater on Devon Island, Nunavut, Canada. Additionally, 1) identify quality of remote observation data sets (i.e., surface imagery from orbit) required for effective pre-traverse route planning and determine if surface level data (i.e., onboard robotic imagery or other sensor data) is required for a successful traverse, and if additional surface level data can improve traverse efficiency or probability of success (TRPF Experiment). 2) Evaluate feasibility and techniques for conducting opportunistic science investigations during this type of traverse. (OSP Experiment). 3) Assess utility of remotely-assisted robotic vehicle for landing site validation survey. (LSV Experiment).
A Brief Overview of Relevant Silicon Carbide Electronics and Sensor Development for Long Duration Venus Surface Exploration
This presentation concentrates on the potential of long duration Venus surface missions, and the role of Silicon Carbide (SiC) electronics and sensor advancements in such exploration. For example, SiC integrated circuit (IC) electronics have matured to a state where a simple long-life scientific probe is feasible for extended Venus surface operations. These electronics have been demonstrated for more than a year at 500˚C, and 60 days in high-fidelity simulated Venus surface conditions [1-2]. Further, high temperature chemical sensing technology, including SiC-based gas sensors, integrated with SiC electronics can enable future exploration of the Venus surface atmosphere [3]. Continued maturation of these high temperature electronics and sensors has been part of the Long-Lived In-Situ Solar System Explorer (LLISSE) project to provide an operational system for in situ exploration of the Venus surface up to 60 days [4]. A key focus of this work includes increasing the complexity and decreasing the power consumption of the ICs which will pave the way to enhanced capabilities, such as long-duration Venus seismic measurements and other mission capabilities currently under development. This is in parallel to work expanding the capabilities of the sensor technology to provide science measurements on the Venus surface. This presentation will give an overview of possible extended duration Venus surface exploration and some of the SiC-based technologies that can enable this exploration.
Lunar surface exploration by Surveyor spacecraft - Introduction.
Surveyor I spacecraft exploration results of lunar surface
HERRO Mission to Mars Using Telerobotic Surface Exploration from Orbit
This paper presents a concept for a human mission to Mars orbit that features direct robotic exploration of the planet s surface via teleoperation from orbit. This mission is a good example of Human Exploration using Real-time Robotic Operations (HERRO), an exploration strategy that refrains from sending humans to the surfaces of planets with large gravity wells. HERRO avoids the need for complex and expensive man-rated lander/ascent vehicles and surface systems. Additionally, the humans are close enough to the surface to effectively eliminate the two-way communication latency that constrains typical robotic space missions, thus allowing real-time command and control of surface operations and experiments by the crew. Through use of state-of-the-art telecommunications and robotics, HERRO provides the cognitive and decision-making advantages of having humans at the site of study for only a fraction of the cost of conventional human surface missions. It is very similar to how oceanographers and oil companies use telerobotic submersibles to work in inaccessible areas of the ocean, and represents a more expedient, near-term step prior to landing humans on Mars and other large planetary bodies. Results suggest that a single HERRO mission with six crew members could achieve the same exploratory and scientific return as three conventional crewed missions to the Mars surface.
Robotic Planetary Surface Exploration
At the present time several spacecraft are exploring the solar system. Cassini, perhaps the last large JPL spacecraft, is on its way to Saturn and its moon Titan. Galileo spacecraft is finishing its exploration of Jupiter and its moons.
Evaluation of Dual Pressurized Rover Operations During Simulated Planetary Surface Exploration
Introduction: A pair of small pressurized rovers (Space Exploration Vehicles, or SEVs) is at the center of the Global Point-of-Departure architecture for future human planetary exploration. Simultaneous operation of multiple crewed surface assets should maximize productive crew time, minimize overhead, and preserve contingency return paths. Methods: A 14-day mission simulation was conducted in the Arizona desert as part of NASA?s 2010 Desert Research and Technology Studies (DRATS). The simulation involved two SEV concept vehicles performing geological exploration under varied operational modes affecting both the extent to which the SEVs must maintain real-time communications with mission control ("Continuous" vs. "Twice-a-Day") and their proximity to each other ("Lead-and-Follow" vs. "Divide-and-Conquer"). As part of a minimalist lunar architecture, no communications relay satellites were assumed. Two-person crews consisting of an astronaut and a field geologist operated each SEV, day and night, throughout the entire 14-day mission, only leaving via the suit ports to perform simulated extravehicular activities. Standard metrics enabled quantification of the habitability and usability of all aspects of the SEV concept vehicles throughout the mission, as well as comparison of the extent to which the operating modes affected crew productivity and performance. Practically significant differences in the relevant metrics were prospectively defined for the testing of all hypotheses. Results and Discussion: Data showed a significant 14% increase in available science time (AST) during Lead-and-Follow mode compared with Divide-and-Conquer, primarily because of the minimal overhead required to maintain communications during Lead-and-Follow. In Lead-and-Follow mode, there was a non-significant 2% increase in AST during Twice-a-Day vs. Continuous communications. Situational awareness of the other vehicle?s location, activities, and contingency return constraints were enhanced during Lead-and-Follow and Twice-a-Day communications modes due to line-of-sight and direct SEV-to-SEV communication. Preliminary analysis of Scientific Data Quality and Observation Quality metrics showed no significant differences between modes.
Rover Technology for Mars Surface Exploration
Provided is an overview of emerging technologies in miniaturized roving vehicles that enable new types of low-cost planetary missions, those which are aimed at detailed survey of extended surface areas, collection and analysis of interesting samples, and in-situ analysis of scientific data. New types of planetary surface data can be acquired at low-cost through the use of innovative technologies.
Energy Storage for Lunar Surface Exploration
This paper presents the updated results of a previous NASA study funded under the Advanced Exploration Systems (AES) Modular Power Systems (AMPS) project. This work focuses on generating high-level system sizing relationships for two lunar surface locations that serve as bounding conditions for most other locations. Four critical parameters are considered to provide sizing data: specific energy, energy density, specific power, and power density. Given the energy storage requirements or customer power demand for a lunar mission location, the data presented in this paper provides a method to determine the critical parameter values of a Regenerative Fuel Cell (RFC) system in order to perform high-level mission architecture trades.
Lunar surface exploration by satellite. An integrated experiment package to perform measurements of the composition of the lunar surface Final report
Integrated experiment package to measure lunar surface composition - gamma ray, alpha particle, X ray fluorescence, and neutron albedo experiments
High-capacity ATHLETE Offloader Mobility Constructor Concept for Human Surface Exploration
Using cross-cabled, winch-tendon four-bar frames, a new Artemis-class ATHLETE system is a multi-limbed robotic mobility platform that is designed for surface traverse, precision placement, and offloading of heavy habitats and other large human exploration payloads from high-decked landers. Building upon lessons learned from the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robotic mobility system developed for Constellation Lunar Surface Systems and Evolvable Mars Campaign, a high-capacity articulated crane / lift vehicle concept has been devised that would be equipped with multi-limb six-degree-of-freedom dexterity for a variety of tasks supporting planetary surface human exploration missions and outposts. The Artemis-class ATHLETE vehicle would use any combination of three to six wheel-onlimb combinations to provide a wide “outrigger” stance to transfer loads from a high center-of-gravity on sloped terrain to low stable carry configurations for long-distance traverses, and be capable of precision docking of payloads to previously positioned elements. The new vehicle concept improves upon previous Constellation-class ATHLETE versions by allowing modular hot-swapping of individual limbs to improve maintenance and flexibility. The extreme-capacity independent limbs can individually function as single cranes, and can be delivered separately via multiple lander manifests for later congregation into self-driving “Tri-ATHLETE” vehicles after delivery to the surface. This paper provides mission architecture targets and vehicle masses for stepped payload capacity values in Earth, Mars, and Lunar gravity environments, and discusses a variety of swappable tools, including wheeled mobility attachments, grippers, excavation tools, repair fixtures, ISRU extraction, winches, block & tackle rigging combinations, 3D printheads, and construction aids.
FIDO: a field integrated design and operations rover for Mars surface exploration
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