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This paper summarizes a series of experimental results in the evaluation and demonstration of planetary rover autonomy, with a particular emphasis on rover system technology capabilities under development for a 2005 Mars sample return mission and its precursor missions.
Over the last few years, new gas chromatographic (GC) concepts were developed for use on board spacecraft or any other restricted environments for determining the chemical composition of the atmosphere and surface material of various planetary bodies. Future NASA Missions include an entry probe that will be sent to Titan and various spacecraft that will land on Mars. In order to be able to properly respond to the mission science requirements and physical restrictions imposed on the instruments by these missions, GC analytical techniques are being developed. Some of these techniques include hardware and mathematical techniques that will improve GC sensitivity and increase the sampling rate of a GC descending through a planetary atmosphere. The technique of Multiplex Gas Chromatography (MGC) is an example of a technique that was studied in a simulated Titan atmosphere. In such an environment, the atmospheric pressure at instrument deployment is estimated to be a few torr. Thus, at such pressures, the small amount of sample that is acquired might not be enough to satisfy the detection requirements of the gas chromatograph. In MGC, many samples are pseudo-randomly introduced to the chromatograph without regard to elution of preceding components. The resulting data is then reduced using mathematical techniques such as cross-correlation of Fourier Transforms. Advantages realized from this technique include: improvement in detection limits of several orders of magnitude and increase in the number of analyses that can be conducted in a given period of time. Results proving the application of MGC at very low pressures emulating the same atmospheric pressures that a Titan Probe will encounter when the instruments are deployed are presented. The sample used contained hydrocarbons that are expected to be found in Titan's atmosphere. In addition, a new selective modulator was developed to monitor water under Martian atmospheric conditions. Since this modulator is selective only to water, the need for a GC column is eliminated. This results in further simplification of the instrument.
Human missions to the surface of Mars will have challenging science operations. This paper will explore some of those challenges, based on science operations considerations as part of more general operational concepts being developed by NASA's Human Spaceflight Architecture (HAT) Mars Destination Operations Team (DOT). The HAT Mars DOT has been developing comprehensive surface operations concepts with an initial emphasis on a multi-phased mission that includes a 500-day surface stay. This paper will address crew science activities, operational details and potential architectural and system implications in the areas of (a) traverse planning and execution, (b) sample acquisition and sample handling, (c) in-situ science analysis, and (d) planetary protection. Three cross-cutting themes will also be explored in this paper: (a) contamination control, (b) low-latency telerobotic science, and (c) crew autonomy. The present traverses under consideration are based on the report, Planning for the Scientific Exploration of Mars by Humans1, by the Mars Exploration Planning and Analysis Group (MEPAG) Human Exploration of Mars-Science Analysis Group (HEM-SAG). The traverses are ambitious and the role of science in those traverses is a key component that will be discussed in this paper. The process of obtaining, handling, and analyzing samples will be an important part of ensuring acceptable science return. Meeting planetary protection protocols will be a key challenge and this paper will explore operational strategies and system designs to meet the challenges of planetary protection, particularly with respect to the exploration of "special regions." A significant challenge for Mars surface science operations with crew is preserving science sample integrity in what will likely be an uncertain environment. Crewed mission surface assets -- such as habitats, spacesuits, and pressurized rovers -- could be a significant source of contamination due to venting, out-gassing and cleanliness levels associated with crew presence. Low-latency telerobotic science operations has the potential to address a number of contamination control and planetary protection issues and will be explored in this paper. Crew autonomy is another key cross-cutting challenge regarding Mars surface science operations, because the communications delay between earth and Mars could as high as 20 minutes one way, likely requiring the crew to perform many science tasks without direct timely intervention from ground support on earth. Striking the operational balance between crew autonomy and earth support will be a key challenge that this paper will address.
The joint NASA/ESA Mars Sample Return (MSR) campaign is underway. The Perseverance Rover has already collected a returnable sample suite currently cached at Three Forks and the pairs to these samples are stored on the Rover with more compelling samples planned to be collected. The MSR collection would represent the most geologically diverse astromaterial collection ever returned and should provide information on topics ranging from Martian geological and biological history to Martian environmental hazards and in situ resource utilization to support potential human exploration. Although Jezero Crater and the surrounding area are not Mars special regions, the scientific opinion is that Mars as a whole is of significant interest to the process of chemical evolution and/or the origin of life. Therefore, due to possibility, however remote, that the samples could contain extraterrestrial life, MSR is classified as a Category V: Restricted Earth Return mission by the NASA Planetary Protection Office. As a result of this classification, a MSR Sample Receiving Facility (SRF) must not only provide a pristine environment to ensure samples are protected from terrestrial contamination for scientific investigations, but it must also provide high-containment to isolate the samples from Earth’s biosphere until the samples are deemed safe for release and/or sterilized.
NASA has studied potential Mars Sample Return over many decades, and the most recent Planetary Science Decadal Survey recommended making significant progress on this topic one of its highest priority goals. Recent inter-agency discussions and scientific support are lending credence to current Mars Sample Return planning activities, which notionally target launch of Sample Retrieval Lander and Earth Return Orbiter flight elements in 2026, and return of Martian samples to Earth in 2031. As part of the Mars Sample Return architecture under consideration, an Earth Entry Vehicle would perform the final phase by protecting the samples through severe entry environments using a 60-deg. sphere-cone flying on a passive/ballistic trajectory. The Earth Entry Vehicle design activities in particular are considering a variety of potential challenges, including: minimizing vehicle mass due to the need to travel to Mars and back to Earth, vehicle robustness to Micrometeroid and Orbital Debris impacts, capability to withstand severe entry environments while minimizing landing ellipse size, and providing impact load attenuation during a high-speed landing to meet Martian sample tube load limits and ensure sample containment in off-nominal scenarios. The present work provides a snapshot of current study work in progress, and highlights paths being taken to address these various design challenges for the conceptual Earth Entry Vehicle.
The Mars Sample Return (MSR) campaign, initiated in 2020 with the launch of the Per-severance Rover, is an international partnership be-tween NASA and the European Space Agency (ESA) to return Martian geological samples to Earth for scientific study in the early 2030s. Not only is MSR the first mission to bring samples back to Earth from an-other planet, it is the first time since Apollo 14to have a mission classified as a Category V: Restricted Earth Return by the NASA Planetary Protection Office due to the possibility that the samples could harbor extra-terrestrial life. As a result of this classification, the Sample Receiving Facility (SRF)must not only pro-vide a pristine environment to ensure samples are protected from terrestrial contamination for scientific investigations, it must also provide high-containment (biosafety level 4 [BSL-4]-equivalence)to isolate the samples from Earth’s biosphere until the samples are deemed safe for release and/or sterilized.
Microbiological studies of spore release, vacuum probe sampling, effectiveness of ultrasonic baths, dry heat inactivation, and Surveyor 7 and Apollo spacecraft contamination
The Infrared Astronomical Satellite (IRAS) has given us the first completely unbiased sky-survey in the far-infrared with wavebands centered at 12, 25, 60 and 100 microns. The Taurus-Auriga complex was selected as the first molecular cloud to be investigated in this study. The Taurus clouds were defined as lying between 04h and 05h in R.A. and +16 to +31 degrees in Dec., then the IRAS point-source catalogue was searched for sources with good or moderate quality fluxes in all three of the shortest IRAS bands. The sources which were selected in this way were then classified into subgroups according to their IRAS colors. Taurus is generally believed to be an area of low-mass star formation, having no luminous O-B associations within or near to the cloud complex. Once field stars, galaxies and planetary nebulae had been removed from the sample only the molecular cloud cores, T Tauri stars and a few emission-line A and B stars remained. The great majority of these objects are pre-main sequence in nature and, as stated by Chester (1985), main sequence stars without excess far-infrared emission would only be seen in Taurus if their spectral types were earlier than about A5 and then not 25 microns. By choosing our sample in this way we are naturally selecting the hotter and thus more evolved sources. To counteract this, the molecular cloud core-criterion was applied to soruces with good or moderate quality flux at 25, 60 and 100 microns, increasing the core sample by about one third. The candidate protostar B335 is only detected by IRAS at 60 and 100 microns while Taurus is heavily contaminated by cirrus at 100 microns. This means that detection at 25 microns is also required with those at 60 and 100 microns to avoid confusing a ridge of cirrus with a genuine protostar. The far-infrared luminosity function of these sources is then calculated and converted to the visual band by a standard method to compare with the field star luminosity function of Miller and Scalo. The eventual aim of this work is to obtain far-infrared luminosity functions for a number of molecular clouds which are known to be forming low-mass stars and to investigate how the slope is affected by changes in the density and turbulence of material.
Primary objectives for exploration of Mars include determination of: (1) the distribution, abundance, and sources and sinks of volatile materials, and (2) the interaction of surface materials with the atmosphere. Both objectives fall within the purview of planetary surface weathering studies and require documented samples of weathered materials, including rock surfaces, soils, and sediments. Major issues to be addressed in selecting and studying Martian samples in this context are summarized.
The operating principles, design, and development histories of three image correlation systems, the Portable Correlator Unit (PCU), the Miniature Correlator Unit (MCU), and the Coherence Interferometer (CI) are reviewed. The PCU and MCU are compact versions of the classical Vander Lught filter optical correlator, essentially parallel optical processors by light valve; the CI is a white-light correlator which functions entirely by interfering light waves, with electronic detection only at the final output, and thus represents a parallel optical processor by rotational-shear interferometer. Details of the design and construction are discussed and illustrated with drawings and photographs. Also considered are applications of the MCU to NASA tasks such as rendezvous and docking on the Mars Rover and Sample Return mission, autonomous robotic exploration of planetary surfaces, and compression and pattern-recognition of remote-sensing data.
NASA's Mars Sample Return (MSR) project will bring Mars surface and atmosphere samples back to Earth for detailed examination. Langley Research Center's MSR Earth Entry Vehicle (EEV) is a core part of the mission, protecting the sample container during atmospheric entry, descent, and landing. Planetary protection requirements demand a higher reliability from the EEV than for any previous planetary entry vehicle. An overview of the EEV design and preliminary analysis is presented, with a follow-on discussion of recommended future design trade studies to be performed over the next several years in support of an MSR launch in 2018 or 2020. Planned topics include vehicle size for impact protection of a range of sample container sizes, outer mold line changes to achieve surface sterilization during re-entry, micrometeoroid protection, aerodynamic stability, thermal protection, and structural materials selection.
The multidisciplinary concept of "bioinspired engineering of exploration systems" (BEES) is described, which is a guiding principle of the continuing effort to develop biomorphic explorers as reported in a number of articles in the past issues of NASA Tech Briefs. The intent of BEES is to distill from the principles found in successful nature-tested mechanisms of specific crucial functions that are hard to accomplish by conventional methods but that are accomplished rather deftly in nature by biological organisms. The intent is not just to mimic operational mechanisms found in a specific biological organism but to imbibe the salient principles from a variety of diverse bio-organisms for the desired crucial function. Thereby, we can build explorer systems that have specific capabilities endowed beyond nature, as they will possess a combination of the best nature-tested mechanisms for that particular function. The approach consists of selecting a crucial function, for example, flight or some selected aspects of flight, and develop an explorer that combines the principles of those specific attributes as seen in diverse flying species into one artificial entity. This will allow going beyond biology and achieving unprecedented capability and adaptability needed in encountering and exploring what is as yet unknown. A classification of biomorphic flyers into two main classes of surface and aerial explorers is illustrated in the figure, with examples of a variety of biological organisms that provide the inspiration in each respective subclass. Such biomorphic explorers may possess varied mobility modes: surface-roving, burrowing, hopping, hovering, or flying, to accomplish surface, subsurface, and aerial exploration. Preprogrammed for a specific function, they could serve as one-way communicating beacons, spread over the exploration site, autonomously looking for/at the targets of interest. In a hierarchical organization, these biomorphic explorers would report to the next level of exploration mode (say, a large conventional lander/rover) in the vicinity. A widespread and affordable exploration of new/hazardous sites at lower cost and risk would thus become possible by utilizing a faster aerial flyer to cover long ranges and deploying a variety of function- specific, smaller biomorphic explorers for distributed sensing and local sample acquisition. Several conceptual biomorphic missions for planetary and terrestrial exploration applications have been illustrated in "Surface-Launched Explorers for Reconnaissance/ Scouting" (NPO-20871), NASA Tech Briefs, Vol. 26, No. 4 (April, 2002), page 69 and "Bio-Inspired Engineering of Exploration Systems," Journal of Space Mission Architecture, Issue 2, Fall 2000, pages 49-79.
The Asteroid Redirect Mission (ARM) concept would robotically visit a hazardous-size near-Earth asteroid (NEA) with a rendezvous spacecraft, collect a multi-ton boulder and regolith samples from its surface, demonstrate an innovative planetary defense technique known as the Enhanced Gravity Tractor (EGT), and return the asteroidal material to a stable orbit around the Moon, allowing astronauts to explore the returned material in the mid-2020s. Launch of the robotic vehicle to rendezvous with the ARM reference target, NEA (341843) 2008 EV5, would occur in late 2021 [1,2]. The robotic segment of the ARM concept uses a 40 kW Solar Electric Propulsion (SEP) system with a specific impulse (Isp) of 2600 s, and would provide the first ever demonstration of the EGT technique on a hazardous-size asteroid and validate one method of collecting mass in-situ. The power, propellant, and thrust capability of the ARM robotic spacecraft can be scaled from a 40 kW system to 150 kW and 300 kW, which represent a likely future power level progression. The gravity tractor technique uses the gravitational attraction of a station-keeping spacecraft with the asteroid to provide a velocity change and gradually alter the trajectory of the asteroid. EGT utilizes a spacecraft with a high-efficiency propulsion system, such as Solar Electric Propulsion (SEP), along with mass collected in-situ to augment the mass of the spacecraft, thereby increasing the gravitational force between the objects [3]. As long as the spacecraft has sufficient thrust and propellant capability, the EGT force is only limited by the amount of in-situ mass collected and can be increased several orders of magnitude compared to the traditional gravity tractor technique in which only the spacecraft mass is used to generate the gravitational attraction force. This increase in available force greatly reduces the required deflection time. The collected material can be a single boulder, multiple boulders, regolith, or a combination of different material types using a variety of collection techniques. The EGT concept assumes that the ability to efficiently collect asteroid mass in-situ from a wide variety of asteroid types and environments is a future capability that will be developed and perfected in the future by the asteroid mining community. Additionally, it is anticipated that the mass collection would likely be performed by a single or multiple separable spacecraft to allow the SEP spacecraft to operate at safe distance from the asteroid.
Informed decision-making during lunar drilling and sampling missions will require data monitoring tools and specialized ground data systems. Accurate and updated situational awareness, with ongoing data monitoring, is critical for timely responses by to incoming science data. Traverse plans and scheduled activities may need to be flexibly changed in order to react to unexpected data or situations. Unlike (for example) Mars missions, the relative lightspeed closeness of the Moon allows for near-real-time ground processing of incoming mission and instrument data. An Apollo-class lunar regolith drill will in a sense “travel” a meter or two vertically at a given subsurface characterization site. As the drill penetrates into lunar regolith, it is likely to encounter a range of material densities, orientations, fracture toughness, and (perhaps) ice percentages. Lunar drill telemetry can provide science teams with a valuable first look into the subsurface structure, the regolith bulk properties, and constituents at each drilled site. Real-time AI-based recognition and reaction to downhole situations has been developed for automated deeper drilling on Mars and beyond. We can leverage the same knowledge bases and pattern-matching as areal-time interpreter of the subsurface, a situational awareness tool during drilling operations. We recently (Sept. 2019) demonstrated this AI drilling monitoring and analysis capability, in control of in-situ drilling and sampling operations, mounted on a KREX-2 rover in Chile’s Atacama Desert. Terrestrial automated drilling log analyses in oil exploration have used similar machine learning techniques in classifying and identifying features in drilling logs –but these typically are designed assuming a drilling fluid influencing downhole measurements and data (permeability, resistivity). Drilling models and existing AI software designed to detect and respond to drilling faults and hard materials can be repurposed, for near-real-time (ground-based) interpretation of drilling telemetry –a potentially valuable advisory tool for strata boundaries and changes in drilling parameters. On the Moon, this approach could be used to study the structure and to some extent the composition of lunar regolith vs. borehole depth, based on recognizable variations in fracture hardness, drilling energy and penetration rates while actively drilling. Since the early 2000s, a series of increasingly-capable real-time drilling telemetry interpretation and characterization software tools have been developed. These subsurface models and software tools have monitored the real-time drilling data received, and automatically identified changes in drill behavior (e.g., encountering a harder target layer, bit inclusions, drill choking due to infall downhole, and others) correlating these with subsurface structures and features. We discuss the mappings between drill borehole parameters, faults or events detected, and modeled changes in rock layer boundaries, in examples drawn from field testing at analog sites in an Arctic impact crater, Rio Tinto, and Chile’s Atacama Desert. These demonstrate how subsurface structural boundaries led to fault detections and responses by the software.
Introduction: Impact events can generate superheated impact melts and even vapor [1]. In the past decade, evidence of the high temperatures and high pressures of the impact process has been found in the impact melt from terrestrial craters (e.g., Mistastin Lake [2], Meteor Crater [3]) and even on the Moon [4–5]. Often, these studies involve zircon or zirconium-bearing phases. Zircon is a particularly useful mineral, due to its robustness and durability against weathering. It is used principally for chronology, but it has a multitude of geologic applications, including geothermometry and fingerprinting magma sources. Here we focus on its capability of recording impact conditions. Grains of zircon (ZrSiO4) are converted at high temperature and/or pressure during an impact event to reidite (a high-pressure polymorph of ZrSiO4) or to tetragonal-ZrO2 + SiO2 [6]. Reidite and tertragonal-ZrO2 leave identifying relicts in the rocks, markers of the high pressures and/or temperatures these rocks underwent. Ries Crater is a 26-km-diameter peak ring crater in southern Germany that formed approximately 15 Ma [7–9]. Ries is the type locality of the polymict impact breccia known as suevite. Here, we report a microanalytical study of suevite from the Ries impact structure. These analyses are used to inform our understanding of the pressure and temperature conditions involved in creating a polymict impact breccia such as suevite in a peak ring crater. Sample Description: The sample, denoted 16RS08, originates from Otting Quarry, at 48.8777° N, 10.7921° E, approximately 17 km from the center of the Ries Crater in Germany (approximately 4 km outside the crater rim). The material recorded in sample 16RS08 is therefore considered an outer suevite. The outer suevite is a discontinuous layer of polymict impact breccia that occurs outside the central ring of Ries, up to 22 km from the center of the crater [9]. Lithic clasts in the outer suevite consist primarily of crystalline basement rocks (gneiss, granite, amphibolite), with less than 5% of lithic clasts being overlying sedimentary rocks (limestone, sandstone, shale) [9]. The thin section studied contains variably shocked lithic and mineral clasts, impact glass, and interstitial minerals that make up the matrix of the breccia (Fig. 1) [9]. Methods: We used a Cameca SX100 electron probe microanalyzer (EPMA) located in the Kuiper Materials Imaging and Characterization Facility (KMICF) at the University of Arizona to obtain 15 elemental X-ray maps of 16RS08. We next used the JEOL 7900F SEM at the Astromaterials Research & Exploration Science (ARES) at NASA Johnson Space Center (JSC) to obtain electron backscatter diffraction (EBSD) maps and energy dispersive X-ray spectroscopy (EDS) maps of select portions of the section. The EBSD data were collected under beam conditions of 20 kV, and ~9 μA, with step sizes varying from 0.05 to 2 μm. Following EBSD data collection, we processed the data using AZtecCrystal and MTEX, a free MATLAB toolbox. Results: We used the elemental X-ray maps to identify the areas of interest in the section, particularly phosphates and Zr-bearing grains. These areas of interest were then targeted for follow up EBSD and EDS analyses. We have identified, through combined EBSD and EDS analysis, the presence of zircon, reidite, and monoclinic-ZrO2 (baddeleyite) in 16RS08. In 16RS08, we have found singular grains of zircon, zircon with a vermicular baddeleyite halo (Fig. 2a), and granular zircon with reidite (Fig. 2b). The different Zr-rich phases and their corresponding textures signifies that this sample underwent a broad spectrum of pressure and temperature conditions during the impact event. For example, zircons surrounded by a vermicular baddeleyite and SiO2 intergrowth (i.e., Fig. 2a) have been shown to preserve evidence of the extremely high temperatures of impact melt, upwards of 2370 °C [2, 6]. Similarly, reidite and granular zircon (i.e., Fig. 2b) have been shown to preserve evidence of high pressure, as the transition to reidite occurs >30 GPa [3, 6]. Future Work: Next, we will process the EBSD and EDS data for these Zr-rich grains, specifically looking for indicators of cubic- or tetragonal-ZrO2 in the baddeleyite remnants and of shock-precursors to the reidite. To further inform our work, we will also obtain BSE images of these grains using a Hitachi S-4800 SEM in KMICF at the University of Arizona, as well as geochemical spot analyses via EPMA. The data collected will be used to constrain the formation conditions of the Ries Crater outer suevite. Acknowledgments: We thank Ken Domanik and Jerry Chang for their support with data collection. This work was supported by a University of Arizona RII Core Facilities Pilot Program grant and start-up funds to JJB. TME thanks A. Cavosie and N. Timms for assistance during field sampling. We acknowledge support from NASA’s Planetary Science Research program for analysis performed at JSC. References: [1] Melosh H. J. (1989) Oxf. U. Press. [2] Timms et al. (2017) EPSL 477, 52–58. [3] Cavosie et al. (2016) Geology 44:9, 703–706. [4] White et al. (2020) Nature Astr. 4, 974–978. [5] Crow C. A. et al. (2017) GCA 202, 264–284. [6] Timms et al. (2017) Earth-Sci. Rev. 165, 185–202. [7] Schmieder M. et al. (2018) GCA 220, 146–157. [8] Schwarz W. H. et al. (2020) M&PS 55:2, 312–325. [9] Stöffler et al. (2013) M&PS 43:4, 515–589.
The lunar crust is the most easily accessible part of the Moon to both remote sensing and sample analyses and provides an archive of information about planetary formation, crustal evolution, and contains a wealth of information about the origin of the Earth-Moon system [e.g., 1-5]. The Apollo mission returned 382 kg of rocks, soil and core samples. Studies of these lunar samples are crucial for our understanding of the Moon’s formation and geological evolution, and for the past 50 years these returned samples have provided the foundation for lunar science [5]. The returned samples are stored and cared for in the lunar curation facility at NASA’s Johnson Space Center. This facility is comprised of a large suite of clean rooms, sample vaults for pristine and return samples, thin section labs, core and saw rooms, storage and working areas, and ancillary labs all designed to minimize contamination from the environment and other samples. Some of the returned samples were intentionally set aside and left unopened. Recently, the Apollo Next Generation Sample Analysis (ANGSA) initiative was designed to examine these pristine samples so the next generation of lunar scientists can further our insight into the Moon’s history. Here, we present the meticulous process that involves preparing for, and ultimately opening, one of the unopened core samples: Apollo 17 drive tube 73002,0,which was collected on the Moon from a landslide deposit near Lara Crater by astronauts Gene Cernan and Jack Schmitt. In order to open, examine, and curate 73002,0withminimalpotential contamination, great care had to be taken prior to opening its container. Beginning18 months before extrusion of the sample, all core processing equipment was pulled out of storage, identified, sorted, cleaned, and purged with nitrogen gas. However, limited institutional memory has made this step challenging as most of the former core processors from the Apollo area have retired or passed away. Twelvemonths prior to extrusion, table-top rehearsals were initiated to identify equipment and learn how it fits together and operates. Five months before extruding the real core, preparations further evolved to include the extrusion and dissection of a lunar core simulant. In addition, a mock-up glovebox was designed and built to allow for a more realistic practice environment. One month prior to extrusion, the actual core cabinet was prepared for use, which included fitting it with lights, a webcam, and power. The tool and equipment cleaning procedure was also modified to include increased cleanliness and sterility requirements. While still sealed, the core was CT scanned at the University of Texas at Austin to maximize its scientific return. Days before the extrusion, witness plates and foil were deployed inside the core cabinet to monitor potential particle and organic contamination within the cabinet. On Nov. 5th, 2019, core sample 73002,0 was successfully opened and extruded(Fig.1). Dissection of 73002,0 began immediately afterwards and is still under way. Processing this sample will help us prepare for future sampling missions and core extrusions and will enable new scientific discoveries about the Moon.
NASA and ESA have outlined new visions for solar system exploration that will include a series of lunar robotic missions to prepare for, and support a human return to the Moon, and future human exploration of Mars and other destinations. One of the guiding principles for exploration is to pursue compelling scientific questions about the origin and evolution of life. The search for life on objects such as Mars will require that all spacecraft and instrumentation be sufficiently cleaned and sterilized prior to launch to ensure that the scientific integrity of extraterrestrial samples is not jeopardized by terrestrial organic contamination. Under COSPAR's current planetary protection policy for the Moon, no sterilization procedures are required for outbound lunar spacecraft. Nonetheless, future in situ investigations of a variety of locations on the Moon by highly sensitive instruments designed to search for biologically derived organic compounds would help assess the contamination of the Moon by lunar spacecraft. These studies could also provide valuable "ground truth" data for Mars sample return missions and help define planetary protection requirements for future Mars bound spacecraft carrying life detection experiments. In addition, studies of the impact of terrestrial contamination of the lunar surface by the Apollo astronauts could provide valuable data to help refine future Mars surface exploration plans for a human mission to Mars.
The novel Dual-Rasp sampling system has been developed for landed missions to low gravity planetary bodies and is particularly well suited for the unique environment of Saturn’s moon Enceladus. The Dual-Rasp sampling system has two counter-rotating rasp cutters that remove material from the surface and direct it into a guide. The cuttings follow the guide into a sample collection cup. When the sampling collection completes, the tool reconfigures by rotating the guide to create a closed circuit for pneumatic sample transfer from the collection cup to science instruments on the lander. A valve opens a gas tank and the gas flows from that tank into the sample collection cup and down rigid tubing to the science instruments chamber on the lander. A two degree of freedom arm with base actuators is used to deploy the sampler and control its sampling location.