Today On Mars: Pictures and Information on the NASA Perseverance Rover, its onboard instruments and the Ingenuity Helicopter [Slides]
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42 ENGINEERING↗
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Post-flight Analysis of Atmospheric Properties from Mars 2020 Entry, Descent, and Landing
The Mars 2020 spacecraft landed the Perseverance rover and Ingenuity helicopter successfully in Jezero crater on Feb. 18, 2021. The entry, descent, and landing (EDL) sequence of the spacecraft largely leveraged the previous Mars Science Laboratory (MSL) mission. The atmospheric modeling approach for Mars 2020 was also borrowed from MSL, and consisted of utilizing two mesoscale atmospheric models of the landing site during the Martian season of landing, and using that data to create a statistical model of the pressure, density, temperature, and winds that Mars 2020 could have expected to encounter. Additionally, Mars 2020 contained an optical sensor - Landing Vision System (LVS) - that relied on taking pictures of the terrain, and was sensitive to the dust opacity of the atmosphere. This paper will briefly describe the pre-flight atmospheric models used for Mars 2020, but will focus on post-flight assessment of these models by comparing them to near-landing day orbiter sounder data and onboard atmospheric measurements. Suggestions for potential model changes will be also discussed.
Soumyo Dutta↗
Post-flight Analysis of Atmospheric Properties from Mars 2020 Entry, Descent, and Landing
The Mars 2020 spacecraft landed the Perseverance rover and Ingenuity helicopter successfully in Jezero crater on Feb. 18, 2021. The entry, descent, and landing (EDL) sequence of the spacecraft largely leveraged the previous Mars Science Laboratory (MSL) mission. The atmospheric modeling approach for Mars 2020 was also borrowed from MSL, and consisted of utilizing two mesoscale atmospheric models of the landing site during the Martian season of landing, and using that data to create a statistical model of the pressure, density, temperature, and winds that Mars 2020 could have expected to encounter. Additionally, Mars 2020 contained an optical sensor - Landing Vision System (LVS) - that relied on taking pictures of the terrain, and was sensitive to the dust opacity of the atmosphere. This paper will briefly describe the pre-flight atmospheric models used for Mars 2020, but will focus on post-flight assessment of these models by comparing them to near-landing day orbiter sounder data and onboard atmospheric measurements. Suggestions for potential model changes will be also discussed.
Soumyo Dutta↗
Post-flight Analysis of Atmospheric Properties from Mars 2020 Entry, Descent, and Landing
The Mars 2020 spacecraft landed the Perseverance rover and Ingenuity helicopter successfully in Jezero crater on Feb. 18, 2021. The entry, descent, and landing (EDL) sequence of the spacecraft largely leveraged the previous 2012 Mars Science Laboratory (MSL) mission. The atmospheric modeling approach for Mars 2020 was also borrowed from MSL. It consisted of two mesoscale atmospheric models of the target site during the Martian season of landing, and a statistical model of the pressure, density, temperature, and winds based on the mesoscale model data. This paper briefly describes the pre-flight atmospheric models used for Mars 2020, but focuses on the post-flight assessment of these models and comparison to near-landing day orbiter sounder and other onboard atmospheric measurements. Observations from post-flight analysis showed that density was under-predicted in the upper atmosphere, but within the altitudes covered by the mesoscale models, the pre-flight modeling matched post-flight results, including for quantities like wind velocities. Potential improvements to address the upper atmosphere and other deficiencies of the Mars 2020 pre-flight model are also discussed.
Villar, Gregorio↗
PlanetarY Telemetric Helicopter for Investigation and Analysis (PYTHIA): A Rotorcraft for Martian Lava Tube Exploration
The PlanetarY Telemetric Helicopter for Investigation and Analysis (PYTHIA) project presents an early feasibility study into future Mars rotorcraft. With the success of Ingenuity and the current development of the Mars Sample Retrieval Helicopters, there is motivation to explore additional vehicle concepts for Mars exploration. This work presents an early conceptual design of a lava tube exploring quadrotor. The nominal mission for the PYTHIA quadrotor includes a two-phase in-depth exploration of one or mutliple lava tubes in the area of interest, Arsia Mons. A sizing analysis was completed using the NASA Design and Analysis of Rotorcraft (NDARC) tool. An eight-bladed quadrotor was selected based on the NDARC sizing sweeps. With preliminary vehicle and blade sizing completed, a flow visualization study was conducted. Two simulations were completed in Rotorcraft Computational Fluid Dynamics (RotCFD): one of the quadrotor alone and another in a lava tube. This paper introduces a baseline reference mission, preliminary vehicle design, and initial sizing analysis of a rotorcraft to explore Martian lava tubes.
PlanetarY↗
Structural Analysis of Load-Bearing Components in Mars Science Helicopter
The successful demonstration of powered flight on Mars by Ingenuity has led to the development of next generation Martian rotorcraft. As technology advances from a technology demonstrator to possible expanded planetary science investigations, the potential to fly a high payload carrying rotorcraft relies on the capability to analyze and validate the structural integrity of the vehicle in addition to the rotor aerodynamic performance. The Mars Science Helicopter (MSH), a next generation hexacopter concept, is an example of a proposed vehicle that would perform science investigations independent of a land-based vehicle. To ensure the feasibility and viability of MSH mission performance, it is critical to mature the structural design of vehicle concepts to bridge the gap between the best practices of the spacecraft and aircraft communities. MSH was analyzed under operational and 26G quasi-static launch loads with different rotor arm and frame designs. Structural analysis results showed that rotor arms could be stiffened for significantly improved structural performance with minimal mass penalty, while the rotorcraft frame exhibited a more complex relationship between mass and launch load stresses due to the mass-dependent launch loads.
Vehicle↗
Structural Analysis of Load-Bearing Components in Mars Science Helicopter
The successful demonstration of powered flight on Mars by Ingenuity has led to the development of next generation Martian rotorcraft. As technology advances from a technology demonstrator to possible expanded planetary science investigations, the potential to fly a high payload carrying rotorcraft relies on the capability to analyze and validate the structural integrity of the vehicle in addition to the rotor aerodynamic performance. The Mars Science Helicopter (MSH), a next generation hexacopter concept, is one example of a proposed vehicle that would perform science independently of a land-based vehicle. To ensure the feasibility and viability of MSH mission performance, it is critical to mature the structural design for these vehicle concepts to bridge the gap between the best practices of the spacecraft and aircraft communities. MSH was analyzed under operational and 26G quasi-static launch loads with different rotor arm and fuselage designs. Structural analysis results showed that rotor arms could be stiffened for significantly improved structural performance with minimal mass penalty, while the rotorcraft frame exhibited a more complex relationship between mass and launch load stresses due to the mass-dependent launch loads.
Load-Bearing↗
Measurements of sound propagation in Mars' lower atmosphere
Acoustics has become extraterrestrial and Mars provides a new natural laboratory for testing sound propagation models compared to those ones on Earth. Owing to the unique combination of a microphone and two sound sources, the Ingenuity helicopter and the SuperCam laser-induced sparks, the Mars 2020 Perseverance rover payload enables the in situ characterization of unique sound propagation properties of the low-pressure CO 2 -dominated Mars atmosphere. In this study, we show that atmospheric turbulence is responsible for a large variability in the sound amplitudes from laser-induced sparks. This variability follows the diurnal pattern of turbulence. In addition, acoustic measurements acquired over one Martian year reveal a variation of the sound intensity by a factor of 1.8 from a constant source due to the seasonal cycle of pressure and temperature that significantly modifies the acoustic impedance and shock-wave formation. Finally, we show that the evolution of the Ingenuity tones and laser spark amplitudes with distance is consistent with one of the existing sound absorption models, which is a key parameter for numerical simulations applied to geophysical experiments on CO 2 -rich atmospheres. Overall, these results demonstrate the potential of sound propagation to interrogate the Mars environment and will therefore help in the design of future acoustic-based experiments for Mars or other planetary atmospheres such as Venus and Titan.
79 ASTRONOMY AND ASTROPHYSICS↗
How do we get robots to take self-portraits on Mars? – Perseverance-Ingenuity and Curiosity selfies
The Perseverance rover landed in Jezero crater,Mars, on 18 February 2021. It carried with it a technologydemonstration, the Ingenuity helicopter, which hasdemonstrated the first controlled, powered flight on anotherplanet. This paper describes how an iconic, April 2021 imageof the Perseverance rover with the Ingenuity helicopter wasdesigned and executed as the rover was getting ready todeploy the helicopter. WATSON is a camera mounted at theend of the rover’s robotic arm and was used to acquire theself-portrait. WATSON is designed to take close up picturesof rocks and regolith on Mars but can also provide views ofthe terrain. A single image covers a small portion of thescene. In order to a create a mosaic covering the full roverand helicopter, 62 WATSON images were acquired. To allowthe images to be mosaicked together, the camera needs to bekept in the same spot. The robotic arm has five degrees offreedom for motion; small changes in orientation can requiresignificant repositioning of the robotic arm joints. Todocument this, a movie of the arm motion was acquired bythe rover’s mast-mounted left navigation camera pointed atthe WATSON and robotic arm while it was simultaneouslymoving to acquire the selfie. For the first time, we alsocaptured the sound of the arm motion as it was acquiring theselfie. In the case of the Perseverance selfie with the Ingenuity helicopter, we also had to think about how toposition the rover with respect to the helicopter and fit theselfie acquisition into the helicopter prime mission timeline.This paper also describes the history of NASA Mars roverselfies.
Beegle, Luther↗
Mars 2020 Navigation Performance
On February 18, 2021, the Perseverance rover and Ingenuity helicopter demonstration landed at Jezero Crater. The Entry, Descent, and Landing (EDL) architecture, largely the same used to land Curiosity at Gale Crater on August 6, 2012, required high-fidelity flight dynamics simulation with two independent tools to verify performance. The process for creating the EDL simulation using the Dynamics Simulator for Entry, Descent and Surface landing (DSENDS) tool will be discussed, along with its use for for independent verification of the EDL statistical analysis results and reference trajectory simulation. Analysis and usage details both in development and cruise, along with post-landing assessment of the prediction performance of the simulation, will also be discussed.
Wagner, Sean↗
Comparing Planetary Helicopter Brownout Observations with Numerical Predictions for Ingenuity
Ingenuity is considered the Martian equivalent of the Wright Flyer. Its sustained flights on Mars proved that non-terrestrial powered flight is possible, even on planets with thin atmospheres. However, Ingenuity was small and carried no payload. Future planetary rotorcraft will be bigger and heavier to accomplish new scientific and exploratory goals. On dusty planets, the associated increase in rotor thrust poses a potential challenge well known to helicopter pilots who have flown in desert environments: dust clouds forming during take-off and landing due to rotor wash, referred to as brownout. This work evaluates the effectiveness of existing numerical simulation models in predicting the severity of this phenomenon for planetary rotorcraft. We compare the output of a CFD-based dust mobilization model with data recently gathered using image processing techniques of Ingenuity’s flights. The simulation results suggest that the sensitivity of the wall friction velocity to the rotorcraft height may be lower than previously assessed. We further evaluate the sensitivity of the total mass of mobilized dust to other model parameters such as the sandblasting efficiency and the saltation threshold velocity. Finally, we discuss the limitations of this comparison due to uncertainty in both the observation and the numerical model.
HEC↗
Mars Sample Recovery Helicopter: Rotorcraft to Retrieve the First Samples from the Martian Surface
The Mars Sample Return Mission (MSR) will carry the next set of Mars helicopters, Sample Recovery Helicopters (SRHs), to the Martian surface. After successfully demonstrating extraterrestrial flight in 2021, Ingenuity has acted as a “scout” for the Perseverance rover while the rover gathers samples of Martian soil. In 2028, the MSR mission will launch a lander and two Ingenuity-sized SRHs to retrieve these samples. These will be the first samples of the Martian surface delivered to Earth. The SRH project will maintain heritage from Ingenuity’s design when possible. However, several key changes must be made, including a ground mobility system, a robotic arm for tube manipulation, and the ability to carry the weight of a science payload (the sample tubes). In addition, the onboard software and cameras will be upgraded, and the rotor radius will be increased. Furthermore, new rotor performance and flight dynamics models and thorough characterization of vehicle limits will be required. The new vehicle design will be described, as well as validation and verification efforts to date.
Rotorcraft↗
Today on Mars [Slides]
This presentation includes pictures and information on the NASA Perseverance Rover, its onboard instruments and the Ingenuity Helicopter.
79 ASTRONOMY AND ASTROPHYSICS↗
ELISA: A Tool for Optimization of Rotor Hover Performance at Low Reynolds Number in the Mars Atmosphere
The Evolutionary aLgorithm for Iterative Studies of Aeromechanics (ELISA) was developed in support of the Rotorcraft Optimization for the Advancement of Mars eXploration (ROAMX) project. ELISA was developed to enable aerodynamic rotor hover optimization for low Reynolds number flows in the Mars atmosphere. The first objective of the algorithm allows for unconventional airfoil parameterization and multi-objective airfoil geometry optimization using OVERFLOW. The Pareto-optimal airfoil sets are converted to a set of Pareto-optimal airfoil decks, providing the lowest drag air foil geometry for each angle of attack, removing the need to arbitrarily select the airfoils to be used in the rotor optimization. The second objective allows for rotor geometry optimization with simultaneous maximization of blade loading and minimization of rotor power using the comprehensive analysis CAMRADII. The result is a Pareto-optimal rotor set, providing the lowest power rotor for each attainable blade loading, and one of the first tools for hover-optimized rotors for high-subsonic low Reynolds number conditions. The airfoil thickness can be modified after the airfoil optimization is complete, allowing for a post-airfoil-optimization adjustment of blade thickness to facilitate conforming to external structural analyses requirements. The relevance of the code is demonstrated with case studies for the ROAMX rotor optimization for Ingenuity-sized single rotors in the Mars atmosphere, a performance study optimizing the chord and twist of Ingenuity’s coaxial rotor resulting in the Sample Recovery Helicopters candidate rotor, and high-subsonic low Reynolds number airfoil optimization providing novel insights for higher-efficiency low Reynolds number airfoil geometries and flow physics.
ELISA↗
Mars 2020 Perseverance Entry Descent and Landing Simulation Statistical Analysis and Operations
On February 18, 2021, the Perseverance rover and Ingenuity helicopter demonstra- tion landed at Jezero Crater. The Entry, Descent, and Landing (EDL) architecture, largely the same used to land Curiosity at Gale Crater on August 6, 2012, required high-fidelity flight dynamics simulation with two independent tools to verify per- formance. The process for creating the EDL simulation using the Dynamics Sim- ulator for Entry, Descent and Surface landing (DSENDS) tool will be discussed, along with its use for for independent verification of the EDL statistical analy- sis results and reference trajectory simulation. Analysis and usage details both in development and cruise, along with post-landing assessment of the prediction performance of the simulation, will also be discussed.
"O'Farrell, Clara"↗
Motivations and Preliminary Design for Mid-Air Deployment of a Science Rotorcraft on Mars
Mid-Air Deployment (MAD) of a rotorcraft during Entry, Descent and Landing (EDL) on Mars eliminates the need to carry a propulsion or airbag landing system. This reduces the total mass inside the aeroshell by more than 100 kg, aeroshell complexity, and likely the risk and cost associated to the mission. Moreover, the lighter entry mass enables landing in the Martian highlands, at elevations inaccessible to current EDL technologies. This paper proposes a novel MAD concept for a Mars helicopter. We suggest a minimum science payload package to perform relevant science in the highlands. A variant of the Ingenuity helicopter is proposed to provide increased deceleration during MAD, and enough lift to fly the science payload in the highlands. We show in simulation that the lighter aeroshell results in lower terminal velocity (30 m/s) at the end of the parachute phase of the EDL, and at higher altitudes than other approaches. After discussing the aerodynamics, controls, guidance and mechanical challenges associated to deploying at such speed, we propose a backshell architecture that addresses them to release the helicopter in the safest conditions. Finally, we implemented the helicopter model and aerodynamic descent perturbations in the JPL Dynamics and Real-Time Simulation (DARTS) framework. Preliminary performance evaluation indicate landing and helicopter operations can be achieved up to +5 km MOLA.
Rapin, William↗
Overview and Results From the Mars 2020 Perseverance Rover's First Science Campaign on the Jezero Crater Floor
The Mars 2020 Perseverance rover landed in Jezero crater on 18 February 2021. After a 100-sol period of commissioning and the Ingenuity Helicopter technology demonstration, Perseverance began its first science campaign to explore the enigmatic Jezero crater floor, whose igneous or sedimentary origins have been much debated in the scientific community. This paper describes the campaign plan developed to explore the crater floor's Máaz and Séítah formations and summarizes the results of the campaign between sols 100–379. By the end of the campaign, Perseverance had traversed more than 5 km, created seven abrasion patches, and sealed nine samples and a witness tube. Analysis of remote and proximity science observations show that the Máaz and Séítah formations are igneous in origin and composed of five and two geologic members, respectively. The Séítah formation represents the olivine-rich cumulate formed from differentiation of a slowly cooling melt or magma body, and the Máaz formation likely represents a separate series of lava flows emplaced after Séítah. The Máaz and Séítah rocks also preserve evidence of multiple episodes of aqueous alteration in secondary minerals like carbonate, Fe/Mg phyllosilicates, sulfates, and perchlorate, and surficial coatings. Post-emplacement processes tilted the rocks near the Máaz-Séítah contact and substantial erosion modified the crater floor rocks to their present-day expressions. Results from this crater floor campaign, including those obtained upon return of the collected samples, will help to build the geologic history of events that occurred in Jezero crater and provide time constraints on the formation of the Jezero delta.
Mars 2020↗
Exploring the Jezero Crater Floor: Overview of Results from the Mars 2020 Perseverance Rover’s First Science Campaign
The Perseverance rover embarked on its first science campaign after landing in Jezero crater on February 18, 2021 and completing ~90 days of commissioning and Ingenuity helicopter activities. During this first campaign, Perseverance explored a large swath of Jezero’s crater floor, investigating and sampling several of the topographically lowest, and potentially oldest, rocks within the crater. Crater floor units: Perseverance explored the Máaz and Séítah formations (previously mapped as the Crater Floor Fractured Rough; Cf-fr and Crater Floor Fractured 1; Cf-f-1 units[1]). These are both widespread units in the crater that potentially correlate with units outside Jezero [2-4]. The Máaz fm. was distinguished from orbit by its mafic composition and densely cratered surface, and has various hypothesized origins, including lava flows[2] and volcaniclastic airfall [3]. The Máaz fm. is important for providing age/stratigraphic constraints on the Jezero western delta. If igneous, returned Máaz fm. samples may aid in calibrating the Mars crater chronology [2,5]and understanding Mars paleomagnetism and early igneous processes(see [6]). The Séítah fm. is olivine-bearing and has been interpreted to be related to a regional unit exposed along the inner rim of Jezero crater walls and occurs more broadly in the Nili Planum and Nili Fossae region. The olivine-bearing unit and its possible correlatives has a wide range of hypothesized origins including volcaniclastic airfall, impact melt, or aeolian and fluvial deposits [2-4,7,8]. The Séítahfm.is likely the oldest unit accessible to Perseverance and represents an important part of Jezero’s pre-delta-lacustrine history. As in the Máaz fm., the lithochemistry of the samples will help studies of early Mars igneous processes. The olivine-and carbonate-bearing components of this unit may also signify habitable conditions early in Jezero’s history, samples of which would be of high geochemical and astrobiological significance, as well as for understanding the martian carbon cycle(see [9]).
Mars 2020↗