The Mars Exploration Rover Project
In mid-2003 NASA will launch two identical rovers to mars. The mars exploration rovers will be enclosed in Mars Pathfinder heritage cruise and entry stages.
Mars Exploration Rover Project↗
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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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Mars Orbiter Sample Return Power Design
Mars has greatly intrigued scientists and the general public for many years because, of all the planets, its environment is most like Earth's. Many scientists believe that Mars once had running water, although surface water is gone today. The planet is very cold with a very thin atmosphere consisting mainly of CO2. Mariner 4, 6, and 7 explored the planet in flybys in the 1960s and by the orbiting Mariner 9 in 1971. NASA then mounted the ambitious Viking mission, which launched two orbiters and two landers to the planet in 1975. The landers found ambiguous evidence of life. Mars Pathfinder landed on the planet on July 4, 1997, delivering a mobile robot rover that demonstrated exploration of the local surface environment. Mars Global Surveyor is creating a highest-resolution map of the planet's surface. These prior and current missions to Mars have paved the way for a complex Mars Sample Return mission planned for 2003 and 2005. Returning surface samples from Mars will necessitate retrieval of material from Mars orbit. Sample mass and orbit are restricted to the launch capability of the Mars Ascent Vehicle. A small sample canister having a mass less than 4 kg and diameter of less than 16 cm will spend from three to seven years in a 600 km orbit waiting for retrieval by a second spacecraft consisting of an orbiter equipped with a sample canister retrieval system, and a Earth Entry Vehicle. To allow rapid detection of the on-orbit canister, rendezvous, and collection of the samples, the canister will have a tracking beacon powered by a surface mounted solar array. The canister must communicate using RF transmission with the recovery vehicle that will be coming in 2006 or 2009 to retrieve the canister. This paper considers the aspect and conclusion that went into the design of the power system that achieves the maximum power with the minimum risk. The power output for the spherical orbiting canister was modeled and plotted in various views of the orbit by the Satellite Orbit Analysis Program (SOAP).
Mardesich, N.↗
An Autonomous Sensor-Based Path-Planner for Planetary Microrovers
With the success of Mars Pathfinder's Sojourner rover, a new era of planetary exploration has opened, with demand for highly capable mobile robots.
Mars↗
Lunar and Planetary Science XXXV: Mars: Surface Coatings, Mineralogy, and Surface Properties
The session "Mars: Surface Coatings, Mineralogy, and Surface Properties" contained the following reports:High-Silica Rock Coatings: TES Surface-Type 2 and Chemical Weathering on Mars; Old Desert Varnish-like Coatings and Young Breccias at the Mars Pathfinder Landing Site; Analyses of IR-Stealthy and Coated Surface Materials: A Comparison of LIBS and Reflectance Spectra and Their Application to Mars Surface Exploration; Contrasting Interpretations of TES Spectra of the 2003 Rover:Opportunity-Landing Site: Hematite Coatings and Gray Hematite; A New Hematite Formation Mechanism for Mars; Geomorphic and Diagenetic Analogs to Hematite Regions on Mars: Examples from Jurassic Sandstones of Southern Utah, USA; The Geologic Record of Early Mars: A Layered, Cratered, and "Valley-"ed: Volume; A Simple Approach to Estimating Surface Emissivity with THEMIS; A Large Scale Topographic Correction for THEMIS Data; Thermophysical Properties of Meridiani Planum, Mars; Thermophysical and Spectral Properties of Gusev, the MER-Spirit Landing Site on Mars; Determining Water Content of Geologic Materials Using Reflectance Spectroscopy; and Global Mapping of Martian Bound Water at 6.1 Microns Based on TES Data: Seasonal Hydration.
Source record↗
Solar System Test of Gravitational Theories
We are engaged in testing gravitational theory, mainly using observations of objects in the solar system and mainly on the interplanetary scale. Our goal is either to detect departures from the standard model (general relativity) - if any exist within the level of sensitivity of our data - or to place tighter bounds on such departures. For this project, we have analyzed a combination of observational data with our model of the solar system, including primarily planetary radar ranging, lunar laser ranging, and spacecraft tracking, but also including both pulsar timing and pulsar VLBI measurements. In the past year, we have included new data in the analysis, primarily tracking data from the Mars Pathfinder mission. Although these data are relatively few in number, they extend the time span of high-precision tracking on the surface of Mars from six years to over 20. As a result, the statistical standard deviation of our estimate of Mars precession rate has nearly halved, and the rest of the parameters in our solar-system model have experienced a corresponding, albeit smaller, improvement (about 20% for t,he relevant asteroid masses, 10% for the semimajor axis of Mars orbit, and smaller amounts for most other parameters). In the coming year, we plan to continue adding data to our set, as available. Ne 2 expect to use these data and improved models to obtain estimates of the gravitational- theory parameters and to publish these results.
Shapiro, Irwin I.↗
Toward Improved Landing Precision on Mars
Mars landers to date have flown ballistic entry trajectories with no trajectory control after the final maneuver before entry. Improvements in landing accuracies (from approx.150 km from the target for Mars Pathfinder to approx.30-40 km for MER and Phoenix) have been driven by approach navigation improvements. MSL will fly the first guided-entry trajectory to Mars, further improving accuracy to approx.10-12 km from the target.
powered descent guidance↗
Immersive environment technologies for planetary exploration
Immersive environments are successfully being used to support mission operations at the Jet Propulsion Laboratory. This technology contributed to the Mars Pathfinder Mission in planning sorties for the Sojourner rover.
visualization↗
Solving a Spacecraft Design Problem
We have probably all been amazed at the ingenuity of spacecraft engineers when we see some of the solutions they invent for such problems as landing a roving vehicle on Mars-as engineers at the Jet Propulsion Laboratory did for NASA's Mars Pathfinder project-without using retro-rockets or even putting a spacecraft in orbit first.
Deep Space 2 Mars Microprobe classroom activity sp↗
A Study of Soil and Duricrust Models for Mars
This project includes analysis of the Mars Pathfinder soil data (spectral, chemical and magnetic) together with analog materials and the products of laboratory alteration experiments in order to describe possible mechanisms for the formation of soil, duricrust and rock coatings on Mars. Soil analog mixtures have been prepared, characterized and tested through wet/dry cycling experiments for changes in binding and spectroscopic properties that are related to what could be expected for duricrusts on Mars. The smectite-based mixture exhibited significantly greater changes (1) in its binding properties throughout the wet/dry cycling experiments than did the palagonite-based mixture, and (2) in its spectral properties following grinding and resieving of the hardened material than did the palagonite-based mixture.
Bishop, Janice L.↗
Real-Time Detection of Dust Devils from Pressure Readings
A method for real-time detection of dust devils at a given location is based on identifying the abrupt, temporary decreases in atmospheric pressure that are characteristic of dust devils as they travel through that location. The method was conceived for use in a study of dust devils on the Martian surface, where bandwidth limitations encourage the transmission of only those blocks of data that are most likely to contain information about features of interest, such as dust devils. The method, which is a form of intelligent data compression, could readily be adapted to use for the same purpose in scientific investigation of dust devils on Earth. In this method, the readings of an atmospheric- pressure sensor are repeatedly digitized, recorded, and processed by an algorithm that looks for extreme deviations from a continually updated model of the current pressure environment. The question in formulating the algorithm is how to model current normal observations and what minimum magnitude deviation can be considered sufficiently anomalous as to indicate the presence of a dust devil. There is no single, simple answer to this question: any answer necessarily entails a compromise between false detections and misses. For the original Mars application, the answer was sought through analysis of sliding time windows of digitized pressure readings. Windows of 5-, 10-, and 15-minute durations were considered. The windows were advanced in increments of 30 seconds. Increments of other sizes can also be used, but computational cost increases as the increment decreases and analysis is performed more frequently. Pressure models were defined using a polynomial fit to the data within the windows. For example, the figure depicts pressure readings from a 10-minute window wherein the model was defined by a third-degree polynomial fit to the readings and dust devils were identified as negative deviations larger than both 3 standard deviations (from the mean) and 0.05 mbar in magnitude. An algorithm embodying the detection scheme of this example was found to yield a miss rate of just 8 percent and a false-detection rate of 57 percent when evaluated on historical pressure-sensor data collected by the Mars Pathfinder lander. Since dust devils occur infrequently over the course of a mission, prioritizing observations that contain successful detections could greatly conserve bandwidth allocated to a given mission. This technique can be used on future Mars landers and rovers, such as Mars Phoenix and the Mars Science Laboratory.
Wagstaff, Kiri↗
Rock Size-Frequency Distributions at the Mars Exploration Rover Landing Sites: Impact Hazard and Accessibility
The Viking and Mars Pathfinder landing sites and a wide variety of rocky locations on the Earth show size-frequency distributions that follow an exponential when expressed in cumulative fractional area covered by rocks of a given diameter or larger versus diameter plots. Mars lander rock distributions have been fit by an equation of the form: Fk(D) = k exp [-q(k) D], where Fk(D) is the cumulative fractional area covered by rocks of diameter D or larger, k is the total area covered by all rocks, and an exponential q(k) = 1.79 + 0.152/k, which governs how abruptly the area covered by rocks decreases with increasing diameter. These distributions form a family of noncrossing curves that flatten out at small rock diameter at a total rock abundance of 5-40%. Model rock size-frequency distributions indicate a low probability of impacting hazardous rocks during MER landing. Rocks large enough to analyze and abrade by the rover should be plentiful within an easy Sol's drive.
Golombek, M. P.↗
The Mars Exploration Rover Project
The twin rovers of the Mars Exploration Rover Project successfully landed on the surface of Mars in January 2004, and initiated a highly successful science and exploration campaign. This marked the culmination of an unprecedented four-year effort to design, build, launch, and operate two of the most complex planetary spacecraft ever built. The project was started in the aftermath of the 1999 Mars mission failures, and was commissioned to take advantage of the highly advantageous 2003 opportunity. The development schedule from project start to launch was only 35 months, so schedule management was the most significant challenge facing the project. This problem was compounded when early assumptions about the extent of design heritage from Mars Pathfinder proved to be flawed. The project derived a number of useful lessons learned in solving these challenges that can be applied to future missions.
Mars↗
Thermal Emission Spectra of Phobos, Vesta, Ceres, and Pallas: A Comparison
Ultraviolet, visual, and near-infrared spectra of Phobos, obtained by Mariner 9 and Viking Orbiters, were interpreted to suggest a compositional similarity with carbonaceous chrondrites. Such a composition would be inconsistent with the moon's origin in the proto-Mars region, as Mars is composed chiefly of differentiated silicates. This interpretation was used to suggest that the moons originated in the main-asteroid belt, with subsequent capture and orbital evolution into their current locations. Interpretations of more recent visual and near-infrared spectra, obtained by Phobos-2 and Mars Pathfinder, have demonstrated that the Phobos spectrum is more similar to spectra of other classes of asteroids and lunar soils. If lunar mare soil is the correct analogy, then such a composition suggests a formation of Phobos from materials similar to that on Mars, i.e. basalts, and would not require a dynamically difficult capture and orbital evolution. During the science phasing orbits of the Mars Global Surveyor mission Thermal Emission Spectrometer (TES) observations of Phobos were acquired at each of four encounters. The spectral variability observed for localized surface regions on Phobos has been previously reported and is greatest near the northern wall of Stickney crater. Interpretation of the thermal infrared spectra of airless bodies, based upon most existing laboratory measurements, is complicated by the absence of interstitial gases on the celestial objects that would act to minimize potential thermal gradients in the upper layers of the surface. As an aid to interpretation of the TES Phobos spectra are compared to telescopic and airborne thermal infrared spectra of asteroids from several classes, including Ceres (G), Pallas (B), and Vesta (V). The asteroid spectra provide a direct analogy to the physical situation encountered at the surface of Phobos, albeit different thermal gradients may exist for each surface. This work is supported by NASA RTOP's 344-30-30-01 and 344-34-21-08.
Roush, Ted↗
In-flight propulsion system characterization for both Mars Exploration Rover Spacecraft
Two Mars Exploration Rover spacecraft were dispensed to red planet in 2003, culminating in a phenomenally successful prime science mission. Twin cruise stage propulsion systems were developed in record time, largely through heritage with Mars Pathfinder. As expected, consumable usage was minimal during the short seven-month cruise for both spacecraft. Propellant usage models based on pressure and temperature agreed with throughput models with in a few percent. Trajectory correction maneuver performance was nominal, allowing the cancellation of near-Mars maneuvers. Spin thruster delivered impulse was 10-12% high vs. ground based models for the intial spin-down maneuvers, while turn performance was XX-XX% high/low vs. expectations. No clear indications for pressure transducer drift were noted during the brief MER missions.
maneuvers↗
Measuring Dust on Mars
Mars is a dusty planet. Will dust accumulation on solar arrays be a problem for large solar power systems used on long-duration future missions on Mars? NASA Lewis Research Center's Materials Adherence Experiment (MAE) on the Mars Pathfinder Sojourner rover was designed to find out. It measured the dust deposited on the rover's solar array by measuring the change in transparency of a movable glass cover as dust settled on it. This graph shows the results from the first 2 weeks of operation on Mars.
Source record↗
Using RSVP for analyzing state and previous activities for the Mars Exploration Rovers
Current developments in immersive environments for mission planning include several tools which make up a system for performing and rehearsing missions. This system, known as the Rover Sequencing and Visualization Program (RSVP), includes tools for planning long range sorties for highly autonomous rovers, tools for planning operations with robotic arms, and advanced tools for visualizing telemetry from remote spacecraft and landers. One of the keys to successful planning of rover activities is knowing what the rover has accomplished to date and understanding the current rover state. RSVP builds on the lessons learned and the heritage of the Mars Pathfinder mission This paper will discuss the tools and methodologies present in the RSVP suite for examining rover state, reviewing previous activities, visually comparing telemetered results to rehearsed results, and reviewing science and engineering imagery. In addition we will present how this tool suite was used on the Mars Exploration Rovers (MER) project to explore the surface of Mars.
Mars Exploration Rover (MER)↗
Autonomous Science Analyses of Digital Images for Mars Sample Return and Beyond
To adequately explore high priority landing sites, scientists require rovers with greater mobility. Therefore, future Mars missions will involve rovers capable of traversing tens of kilometers (vs. tens of meters traversed by Mars Pathfinder's Sojourner). However, the current process by which scientists interact with a rover does not scale to such distances. A single science objective is achieved through many iterations of a basic command cycle: (1) all data must be transmitted to Earth and analyzed; (2) from this data, new targets are selected and the necessary information from the appropriate instruments are requested; (3) new commands are then uplinked and executed by the spacecraft and (4) the resulting data are returned to Earth, starting the process again. Experience with rover tests on Earth shows that this time intensive process cannot be substantially shortened given the limited data downlink bandwidth and command cycle opportunities of real missions. Sending complete multicolor panoramas at several waypoints, for example, is out of the question for a single downlink opportunity. As a result, long traverses requiring many science command cycles would likely require many weeks, months or even years, perhaps exceeding rover design life or other constraints. Autonomous onboard science analyses can address these problems in two ways. First, it will allow the rover to transmit only "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands, for example acquiring and returning spectra of "interesting" rocks along with the images in which they were detected. Such approaches, coupled with appropriate navigational software, address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing algorithms to enable such intelligent decision making by autonomous spacecraft. Reflecting the ultimate level of ability we aim for, this program has been dubbed the "Grad Student on Mars Project". We envision, for example, an appropriately intelligent Athena-like rover at the Pathfinder landing site might be able to traverse over the ridge towards "Twin Peaks" to obtain better information on the stratigraphy of these "streamlined islands" or of the size, composition and morphology of boulders located on them. Along the traverse, the intelligent rover would collect and analyze images and obtain spectra of geologically interesting features or regions. The intelligent rover might also traverse further up Arcs Vallis, and find additional paleoflood stage indicators such as slackwater deposits. Recognizing additional regions where boulders are imbricated, noting changes in their size, distribution, morphology, composition and the associated changes in channel geometry would yield important information on the outflow channel's paleoflood history, Representative images and associated supporting data from these locations could be downlinked to Earth along with the data requested by scientists from the previous uplink opportunity. Our initial work has focused on recognizing geologically interesting portions of images. Here we summarize some of the algorithms to date.
Gulick, V. C.↗
Preliminary Results of the Magnetic Properties Experiments on the Mars Exploration Rovers, Spirit and Opportunity
The Mars Exploration Rovers each carry a set of Magnetic Properties Experiments designed to investigate the properties of the air-borne dust in the Martian atmosphere. It is a preferred interpretation of previous experiments (Viking 1 & 2, 1976 and Mars Pathfinder, 1997) that the airborne dust in the Martian atmosphere is primarily composed by composite silicate particles containing one or more highly magnetic minerals as a minor constituent, this minor constituent probably being dominated by the mineral maghemite (gamma-Fe2O3). The ultimate goal of the magnetic properties experiments on the Mars Exploration Rover mission is to provide some information/constraints on whether the dust is formed by volcanic, meteoritic, aqueous, or other processes. In detail, the objectives are: a) To identify the magnetic mineral(s) in the dust, soil and rocks on Mars. b) To establish if the magnetic material is present in the form of nanosized (d < 10 nm) superparamagnetic crystallites embedded in the micrometer sized airborne dust part icles. c) To establish if the magnets are culling a subset of strongly magnetic particles or if essentially all particles of the airborne dust are sufficiently magnetic to be attracted by the magnets. d) Detect compositional differences between the airborne dust and the soil and rock sites which are investigated at two landing sites. To accomplish these goals the Mars Exploration Rovers each carry a set of permanent magnets of several different strengths and sizes. Each magnet has its own specific objective.
Hviid, S. F.↗