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Innovation Description: We propose to study the optimized excitation and emission wavelength to detect minerals and metabolites on the planetary surface. This will be accomplished within a small, low-power instrument that can operate within the realm of any the planetary bodies.
The Lightweight Surface Manipulation System, or LSMS, is a family of long-reach cable-actuated robotic cranes. They are designed for planetary surface operations on the Moon and Mars. Their low structural weight and compact packaging reduces the fuel costs associated with space travel. The LSMS can be operated by humans, who can be on site or remotely, or autonomously. The goal of this research is to help human operators and path planning algorithms avoid unsafe states during operation. To this end, this work leverages a geometrical model of the LSMS and formulates a new dynamic model. These are later used to define the safe operational envelope for the LSMS family. The paper classifies the constraints that define the safe operational envelope in three groups: motor constraints, geometric constraints, and cable tension constraints. Keeping the cables under tension is necessary to maintain controllability over the joint angles. Two types of loss of tension events are identified for each of the cables. First, an excessive reel out of the cables can lead to a loss of tension, where the LSMS links behave like a pendulum. Second, an excessive reel in of the cables can lead to a link tip-over. This can cause a violent clash between the links on the LSMS. The paper visualizes these constraints for the LSMS-L35, the smallest robot within the family.
Planetary surface pressure and temperature of lower atmosphere determined from orbiting spacecraft with carbon dioxide laser
It has been known for over a decade that certain high-altitude regions on Venus exhibit bizarre radar-scattering and radiothermal-emission behavior. For example, observed values for normal-incidence power reflection coefficients in these areas can exceed 0.5; enhanced back scatter in some mountainous areas in the Magellan SAR images creates a bright surface with the appearance of snow; and reduced thermal emission in the anomalous areas makes the surface there appear hundreds of degrees cooler than the corresponding physical surface temperatures. The inferred radio emissivity in several of these regions falls to 0.3 for horizontal linear polarization at viewing angles in the range 20 deg - 40 deg. Several explanations have been offered for these linked phenomena. One involves single-surface reflection from a sharp discontinuity separating two media that have extremely disparate values of electromagnetic propagation. The mismatch may occur in either or both the real (associated with propagation velocity) or imaginary (associated with absorption) components of the relevant indices of refraction, and the discontinuity must take place over a distance appreciably shorter than a wavelength. An example of such an interaction of Earth would occur at the surface of a body of water. At radio wavelengths, water has an index of refraction of 9 (dielectric permittivity of about 80), and an associated loss factor that varies strongly with the amount of dissolved salts, but is generally significant. Its single-surface radar reflectivity at normal incidence is about 0.65, and the corresponding emissivity (viewed at the same angle) is therefore 0.35. Both these values are similar to the extremes found on Venus, but in the absence of liquid water, the process on Venus requires a different explanation. Two of the present authors (Pettengill and Ford) have suggested that scattering from a single surface possessing a very high effective dielectric permittivity could explain many of the unusual characteristics displayed by the Venus surface. A second explantion relates to the volume scattering that results from successive interactions with one or more interfaces interior to the planetary surface. If the near-surface material has a moderately low index of refraction (to ensure that a substantial fraction of the radiation incident from outside is not reflected, but rather penetrates into the surface), and a very low internal propagation loss, successive internal reflections can eventually redirect much of the energy back through the surface toward the viewer. The necessary conditions for this process to be effective are a low internal propagation loss coupled with efficient internal reflection. At sufficiently low temperatures, fractured water ice displays both the necessary low loss and near-total internal reflection. The possibility that this mechanism might be acting on Venus has recently been put forward.
Many processes active on the early Moon are common to most terrestrial planets, including the record of early and late impact bombardment. The Moon's surface provides a record of the earliest era of terrestrial planet evolution, and the type and composition of minerals that comprise a planetary surface are a direct result of the initial composition and subsequent thermal and physical processing. Lunar mineralogy seen today is thus a direct record of the early evolution of the lunar crust and subsequent geologic processes. Specifically, the distribution and concentration of specific minerals is closely tied to magma ocean products, lenses of intruded or remelted plutons, basaltic volcanism and fire-fountaining, and any process (e.g. cratering) that might redistribute or transform primary and secondary lunar crustal materials. The association of several lunar minerals with key geologic processes is illustrated in Figure 1. The geologic history of potential landing sites on the Moon can be read from the character and context of local mineralogy.
CRUX is a modular suite of geophysical and borehole instruments combined with display and decision support system (MapperDSS) tools to characterize regolith resources, surface conditions, and geotechnical properties. CRUX is a NASA-funded Technology Maturation Program effort to provide enabling technology for Lunar and Planetary Surface Operations (LPSO). The MapperDSS uses data fusion methods with CRUX instruments, and other available data and models, to provide regolith properties information needed for LPSO that cannot be determined otherwise. We demonstrate the data fusion method by showing how it might be applied to characterize the distribution and form of hydrogen using a selection of CRUX instruments: Borehole Neutron Probe and Thermal Evolved Gas Analyzer data as a function of depth help interpret Surface Neutron Probe data to generate 3D information. Secondary information from other instruments along with physical models improves the hydrogen distribution characterization, enabling information products for operational decision-making.
Volatiles in planetary interiors play important roles in magma genesis, crust formation, eruption style, and even habitability of planetary surfaces. Allan Treiman’s career has touched on volatiles in the Moon, Mars, HED-parent body, the Earth, Venus, and other planetary bodies through studies of igneous rocks, volatile-bearing igneous minerals within these rocks, and the secondary alteration products produced from these rocks and minerals. His seminal work in many of these fields has inspired our careers and many others in our field. Here, we will build on and summarize what we know of the volatile content of basaltic rocks in the inner solar system. Specifically, this talk will focus on using volatile-bearing minerals (amphibole and apatite) along with bulk compositions to constrain the pre-eruptive, and potentially predegassed, volatile content of the magma and their source regions. We will then use these estimates to compare the volatile content of the Earth, Moon, Mars, Venus, and Mercury and what open questions there are for each planetary body.
Airless bodies are continually exposed to the harsh interplanetary space environment, causing the alteration of their surfaces through a process known as space weathering (SW). SW is dominated by solar wind irradiation and micrometeoroid bombardment, which together alter the spectral, microstructural, and chemical characteristics of grains on the surface of airless bodies. The effects of SW are variable and depend on the heliocentric distance and the initial composition of the planetary surface, among other factors. On the Moon and S- type asteroids, it is well established that SW darkens and reddens the surface of these bodies and attenuates absorption bands across the Vis-NIR wavelengths. These spectral effects are largely the result of the production of metallic Fe nanoparticles (npFe). However, Mercury’s SW environment is unique compared to the Moon and S-type asteroids. Mercury is a geochemical endmember, with a surface composition low in Fe (<2 wt.%) and enriched in volatile components, including regions of the surface hypothesized to contain up to 4 wt.% graphite in the low reflectance material (LRM). In fact, the presence of graphite on Mercury has been hypothesized to act as a reducing agent for silicates during SW to produce Si-bearing Fe-rich metal. In addition, its location in the solar system exposes Mercury to an extreme SW environment, with the surface of the planet experiencing an intense solar wind flux and higher flux and velocity of micrometeoroid impactors compared to the Moon and S-type asteroids. The effects that such harsh SW has on materials with the unique compositional characteristics of Mercury are not well constrained. To better understand SW at Mercury, we must investigate these processes in the laboratory. Here, we present the results of our analyses of the spectral, microstructural and chemical characteristics of Mercury analog samples irradiated by pulsed laser to simulate the short duration, high temperature events associated with micrometeoroid impacts.
Planetary surface mobility has to date been limited to benign locations. If rover systems could be developed for more challenging terrain, e.g., sloped and irregularly feathered areas, then planetary science opportunities would be greatly expanded.
Sample acquisition from planetary surface by unmanned probes in life detection experiments
Recent and future explorations of Mars and lunar surfaces through rovers and landers have spawned great interest in developing an instrument that can perform in-situ analysis of minerals on planetary surfaces. Several research groups have anticipated that for such analysis, Raman spectroscopy is the best suited technique because it can unambiguously provide the composition and structure of a material. A remote pulsed Raman spectroscopy system for analyzing minerals was demonstrated at NASA Langley Research Center in collaboration with the University of Hawaii. This system utilizes a 532 nm pulsed laser as an excitation wavelength, and a telescope with a 4-inch aperture for collecting backscattered radiation. A spectrograph equipped with a super notch filter for attenuating Rayleigh scattering is used to analyze the scattered signal. To form the Raman spectrum, the spectrograph utilizes a holographic transmission grating that simultaneously disperses two spectral tracks on the detector for increased spectral range. The spectrum is recorded on an intensified charge-coupled device (ICCD) camera system, which provides high gain to allow detection of inherently weak Stokes lines. To evaluate the performance of the system, Raman standards such as calcite and naphthalene are analyzed. Several sets of rock and gemstone samples obtained from Ward s Natural Science are tested using the Raman spectroscopy system. In addition, Raman spectra of combustible substances such acetone and isopropanol are also obtained. Results obtained from those samples and combustible substances are presented.
During missions on asteroid and lunar and planetary surfaces, space systems and crew health may be degraded by exposure to dust and dirt. Furthermore, for missions outside the Earth‐Moon system, planetary protection must be considered in efforts to minimize forward and backward contamination. This paper presents an end‐to‐end approach to ensure system reliability, crew health, and planetary protection in regolith environments. It also recommends technology investments that would be required to implement this layered engineering defense.
The development of a general rock/soil model capable of simulating in a self consistent manner the mechanical and exposure history of an assemblage of solid and loose material from submicron to planetary size scales, applicable to lunar and other space exposed planetary surfaces is discussed. The model was incorporated into a computer code called MESS.2 (model for the evolution of space exposed surfaces). MESS.2, which represents a considerable increase in sophistication and scope over previous soil and rock surface models, is described. The capabilities of previous models for near surface soil and rock surfaces are compared with the rock/soil model, MESS.2.
Continuing work on the two die-away measurements proposed to be made in the combined pulsed neutron experiment (CPNE) for analysis of lunar and planetary surfaces is described. This report documents research done during Phase 3. A general exposition of data analysis by the least-squares method and the related problem of the prediction of variance is given. A data analysis procedure for epithermal die-away data has been formulated. In order to facilitate the analysis, the number of independent material variables has been reduced to two: the hydrogen density and an effective oxygen density, the latter being determined uniquely from the nonhydrogeneous elemental composition. Justification for this reduction in the number of variables is based on a set of 27 new theoretical calculations. Work is described related to experimental calibration of the epithermal die-away measurement. An interim data analysis technique based solely on theoretical calculations seems to be adequate and will be used for future CPNE field tests.
Tholins are refractory organic solids of complex structure and high molecular weight, with a wide range of color ranging from yellow and orange to dark red, and through tan to black. They are made in the laboratory by energy deposition (photons or charged particles) in gases and ices containing the simple molecules (e.g., N2, CH4, CO) found in planetary atmospheres or condensed on planetary surfaces. They are widely implicated in providing the colors and albedos, particularly in the region 0.3-1.0 microns, of several outer Solar System bodies, including Pluto, as well as aerosols in planetary atmospheres such as Titan. Recent color images of Pluto with the New Horizons spacecraft show concentrations of coloring agent(s) in some regions of the surface, and apparent near-absence in other regions. Tholins that may to some degree represent surface chemistry on Pluto have been synthesized in the laboratory by energetic processing of mixtures of the ices (N2, CH4, CO) known on Pluto's surface, or the same molecules in the gas phase. Details of the composition and yield vary with experimental conditions. Chemical analysis of Pluto ice tholins shows evidence of amides, carboxylic acids, urea, carbodiimides, and nitriles. Aromatic/olefinic, amide, and other functional groups are identified in XANES analysis. The ice tholins produced by e- irradiation have a higher concentration of N than UV ice tholins, with N/C approx. 0.9 (versus approx. 0.5 for UV tholins) and O/C approx.0.2. Raman spectra of the electron tholin show a high degree of structural disorder, while strong UV fluorescence indicates a large aromatic content. EUV photolysis of a Pluto gaseous atmosphere analog yields pale yellow solids relatively transparent in the visual, and with aliphatic CH bonds prominent in IR spectra. This or similar material may be responsible for Pluto's hazes.
The objectives of the Mars surface properties working group are described. The objectives were: (1) determine a simple reference surface that would adequately represent the shape of the planet for cartographic purposes; (2) monitor the topographic results and to assess the relative calibration and accuracies of these techniques, thereby leading to a composite topographic map of the planet; and (3) facilitate the exchange of data in closely connected disciplines. The shape, topography, and isobaric surface are discussed along with the gravity field, and crustal density model. It was found that there is no simple reference figure for the planetary surface, although an offset, triaxial ellipsoid is adequate for most purposes.
It is noted that negative ions may be formed in the ionospheres of Mercury, the moon, and Jupiter's satellites with densities of a few percent of the ionospheric electron density. Negative ions result from three mechanisms at the planetary surface: charge inversion during energetic proton scattering, with simultaneous secondary negative ion emission, and micrometeorite impacts. The density and distribution of negative ions around planetary bodies depends primarily on the negative ion lifetimes determined through photodetachment by solar radiation.
High level systems engineering modeling and analysis activities for the Space Exploration Initiative (SEI) are reviewed, with emphasis on planet surface systems. Particular attention is given to SEI studies, preliminary space robotic system requirements, and usefulness of space robotic systems developed to operate on planetary surfaces on earth. It is concluded that supervised intelligent systems on the planet surfaces are necessary to make SEI planet surface activities reliable and productive and encompass capabilities for control and monitoring of all elements, including supervised autonomous robotic systems. Amplification of human capabilities due to applying more knowledge and reasoning in more flexible and appropriate ways than conventional automation approaches will provide more robust performance, greater choice of interaction modes with operators, and greater transparency of operation.