Robotic Arm Camera (RAC) for the 2007 Phoenix Mars Scout Lander
The slide presentation examines background, mission overview, the robotic arm camera (RAC), and ongoing work in preparation for the Phoenix Mars Scout Lander mission.
Bos, Brent J.↗
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JPL Power Systems for Current Planned Missions
The viewgraph presentation includes fact sheets, instrument lists, and mission parameters for 13 future missions. Those missions include Moon Mineralogy Mapping (MMM), Space Interferometry Mission (SIM), New Millennium--Space Technology-8 (ST-8), Ocean Salinity Mapping Orbiter (Aquarius), Ocean Surface Topology Mission (OSTM), Asteroid Rendezvous Mission-SEP (Dawn), Mars Scout Lander Mission (Phoenix), Solar Powered Jupiter Orbiter (Juno), Earth orbiting carbon observatory (OCO), planet finder observatory (Kepler), far infrared/sub-millimeter telescope (Hershel), Wide-field Infrared Survey Explorer (WISE), and Mars Science Laboratory-Rover (MSL). The presentation also contains a table of current missions and instruments.
Phoenix↗
3D Visualization for Phoenix Mars Lander Science Operations
Planetary surface exploration missions present considerable operational challenges in the form of substantial communication delays, limited communication windows, and limited communication bandwidth. A 3D visualization software was developed and delivered to the 2008 Phoenix Mars Lander (PML) mission. The components of the system include an interactive 3D visualization environment called Mercator, terrain reconstruction software called the Ames Stereo Pipeline, and a server providing distributed access to terrain models. The software was successfully utilized during the mission for science analysis, site understanding, and science operations activity planning. A terrain server was implemented that provided distribution of terrain models from a central repository to clients running the Mercator software. The Ames Stereo Pipeline generates accurate, high-resolution, texture-mapped, 3D terrain models from stereo image pairs. These terrain models can then be visualized within the Mercator environment. The central cross-cutting goal for these tools is to provide an easy-to-use, high-quality, full-featured visualization environment that enhances the mission science team s ability to develop low-risk productive science activity plans. In addition, for the Mercator and Viz visualization environments, extensibility and adaptability to different missions and application areas are key design goals.
Edwards, Laurence↗
The NASA Phoenix 2007 Mars Lander Thruster Calibration Estimator: Design and Validation
The NASA Phoenix 2007 Mars Lander mission, launched in August 2007 on its mission to land near the north pole of Mars in May 2008, had a driving need for entry-corridor delivery precision, which parlayed into stringent requirements on deep space navigation accuracy. This, in turn, necessitated in-cruise calibration of the three-axis thrust force vectors produced by each of the vehicle's four reactioncontrol system (RCS) thrusters during frequent daily low-catalyst-bed-temperature firings done to maintain the 3-axis attitude deadbands. A novel recursive sigmapoint consider-covariance filter was designed, validated and ultimately utilized extensively during flight operations, to estimate the RCS force vectors, per individual thruster. The estimate was achieved through ground-based processing of Deep Space Network (DSN) and telemetered gyroscope data from the spacecraft's inertial measurement unit (IMU), using a novel sigma-point consider filter (SPCF) formulation. During early-cruise active calibration, the spacecraft was flown in attitudes chosen, using this filter, to maximize observability of all thruster axes, to an extent constrained by vehicle thermal and communication considerations. The design of the Phoenix thruster calibration filter, and its validation through processing of archived Mars Odyssey thruster calibration radiometric data, and simulated sets of data, are discussed in this paper. The paper concludes with the formulation of the thruster calibration campaign and a summary of the thruster calibration campaign results. The SPCF algorithm is summarized in the Appendix.
sigma-point filter↗
MECA TECP Testing and Experimentation
MECA (the Microscopy, Electrochemistry, Conductivity Analyzer) is an instrument on the Phoenix 2007 mission to Mars designed to investigate the properties of high-latitude Martian soils. One of the MECA components, TECP (the Thermal and Electrical Conductivity Probe) is in an advanced stage of hardware development but requires testing and characterization. Two separate experiments are examined to attempt to answer open questions regarding the operation of the TECP. The humidity sensor tests showed a number of important details about the operation and design of the humidity sensor integrated on the TECP. The second experiment focused on the details of how the TECP contacts the soil it is inserted into and provided important answers to questions regarding the viability of this method of characterizing soils.
Tollerud, Erik J.↗
Intelligent Systems Technologies for Ops
As NASA supports International Space Station assembly complete operations through 2020 (or later) and prepares for future human exploration programs, there is additional emphasis in the manned spaceflight program to find more efficient and effective ways of providing the ground-based mission support. Since 2006 this search for improvement has led to a significant cross-fertilization between the NASA advanced software development community and the manned spaceflight operations community. A variety of mission operations systems and tools have been developed over the past decades as NASA has operated the Mars robotic missions, the Space Shuttle, and the International Space Station. NASA Ames Research Center has been developing and applying its advanced intelligent systems research to mission operations tools for both unmanned Mars missions operations since 2001 and to manned operations with NASA Johnson Space Center since 2006. In particular, the fundamental advanced software development work under the Exploration Technology Program, and the experience and capabilities developed for mission operations systems for the Mars surface missions, (Spirit/Opportunity, Phoenix Lander, and MSL) have enhanced the development and application of advanced mission operation systems for the International Space Station and future spacecraft. This paper provides an update on the status of the development and deployment of a variety of intelligent systems technologies adopted for manned mission operations, and some discussion of the planned work for Autonomous Mission Operations in future human exploration. We discuss several specific projects between the Ames Research Center and the Johnson Space Centers Mission Operations Directorate, and how these technologies and projects are enhancing the mission operations support for the International Space Station, and supporting the current Autonomous Mission Operations Project for the mission operation support of the future human exploration programs.
Smith, Ernest E.↗
Mars Phoenix Scout Thermal Evolved Gas Analyzer (TEGA) Database: Thermal Database Development and Analysis
The Mars Phoenix Scout Lander mission in 2008 examined the history of water, searched for organics, and evaluated the potential for past/present microbial habitability in a martian arctic ice-rich soil [1]. The Thermal Evolved Gas Analyzer (TEGA) instrument measured the isotopic composition of atmospheric CO2 and detected volatile bearing mineralogy (perchlorate, carbonate, hydrated mineral phases) in the martian soil [2-7]. The TEGA data are archived at the Planetary Data System (PDS) Geosciences Node but are reported in forms that require further processing to be of use to the non-TEGA expert. The soil and blank TEGA thermal data are reported as duty cycle and must be converted to differential power (mW) to allow for enthalpy calculations of exothermic/endothermic transitions. The exothermic/endothermic temperatures are also used to determine what phases (inorganic/organic) are present in the sample. The objectives of this work are to: 1) Describe how interpretable thermal data can be created from TEGA data sets on the PDS and 2) Provide additional thermal data interpretation of two Phoenix soils (Baby Bear, Wicked Witch) and include interpretations from three unreported soils (Rosy Red 1, 2, and Burning Coals).
Sutter, B.↗
The Phoenix mission and its current landing site options
Phoenix is the 2007 Mars Scout program mission that will send a lander and suite of instruments to study the north polar region on Mars.
Mars↗
Forming Perchlorates on Mars Through Plasma Chemistry During Dust Events
We report experimental evidences to support a new formation mechanism, multiphase redox plasma chemistry, for perchlorate on Mars observed during the Phoenix mission, whose high concentrations and high ClO4/Cl ratio cannot be fully interpreted by photochemistry. This chemical reaction occurs between Cl-bearing minerals on the Mars surface and free radicals generated by electrostatic discharge (ESD) during Mars dust events (dust storms, dust devils, and grain saltation). We conducted simulated ESD experiments in a Mars chamber with pure CO2, CO2+H2O(g), and Mars Simulate Gas Mixture at Martian atmospheric pressure. We directly observed (1) the instantaneous generation of atmospheric free radicals CO2+, CO+, OI, HIII, HII, OH, ArI, N2, and N2+in normal glow discharge (NGD), detected by in situ plasma emission spectroscopy, and O3by UV and Mid-IR spectroscopy; (2) the fast transformation of NaCl to NaClO3and NaClO4detected by laser Raman spectroscopy, with oxychlorine enrichment at the sample surfaces confirmed by ion chromatography. Through two sets of experimental comparison, we found that the oxidation power of ESD-electron is three orders of magnitude higher than that of UVC-photon. We scaled our experimental results to the modeled ESD in Mars dust events and Mars surface UV radiation level, and concluded that plasma chemistry occurred during Mars dust events can be an additional important formation mechanism for the large amounts of perchlorates observed during various missions to Mars.
Wu, Zhongchen↗
The Goals and Approach of the Phoenix Mission for Evaluating the Habitabiity of the Northern Plains on Mars
The first goal of the Mars Exploration program, as defined by the Mars Exploration Payload Analysis Group (MEPAG) is to determine if life ever arose on Mars [1]. The Phoenix landing site was chosen to sample near surface ground ice in the Northern Plains discovered by the GRS experiment on Mars Odyssey [2]. A goal of Phoenix is to determine whether this environment was habitable for life at some time in its history.
Stoker, Carol R.↗
Internship Tasks Associated With CIF Icy Regolith Excavation and Volatile Capture Under Vacuum Conditions
Understanding the surface and atmosphere of Mars is critical to current and future development of exploration systems. Dealing with the Martian regolith-the top layer of soil-remains a significant challenge, and much research is still needed. Addressing this need, the Cryogenics Test Lab and Granular Mechanics and Regolith Operations Lab at NASA's Kennedy Space Center are partnering to develop an apparatus that utilizes simulated Martian regolith in an analogous atmospheric environment to gather data about how the material behaves when exposed to water vapor. Martian surface temperatures range from 128 K (-145 C) to 308 K (35 C), and the average pressure is approximately 4.5 Torr; which presents an environment where water can potentially exist in vapor, solid or liquid form. And based on prior Mars missions such as the Phoenix Lander, it is known that water-ice exists just below the surface. This test apparatus will attempt to recreate the conditions that contributed to the Martian ice deposits by exposing a sample to water vapor at low pressure and temperature; thereby forming ice inside the simulant via diffusion. From this, we can better understand the properties and behavior of the regolith, and have more knowledge concerning its ability to store water-and subsequently, how to dig up and extract that water-which will be crucial to sample gathering when the first manned Mars mission takes place.
Thermal-Vacuum Testing↗
Thermal and Evolved Gas Analysis of "Nanophase" Carbonates: Implications for Thermal and Evolved Gas Analysis on Mars Missions
Data collected by the Mars Phoenix Lander's Thermal and Evolved Gas Analyzer (TEGA) suggested the presence of calcium-rich carbonates as indicated by a high temperature CO2 release while a low temperature (approx.400-680 C) CO2 release suggested possible Mg- and/or Fe-carbonates [1,2]. Interpretations of the data collected by Mars remote instruments is done by comparing the mission data to a database on the thermal properties of well-characterized Martian analog materials collected under reduced and Earth ambient pressures [3,4]. We are proposing that "nano-phase" carbonates may also be contributing to the low temperature CO2 release. The objectives of this paper is to (1) characterize the thermal and evolved gas proper-ties of carbonates of varying particle size, (2) evaluate the CO2 releases from CO2 treated CaO samples and (3) examine the secondary CO2 release from reheated calcite of varying particle size.
Lauer, Howard V., Jr.↗
Acquisition of a High-resolution Inductively Coupled Plasma Mass Spectrometer for Cosmochemical and Geochemical Research
The primary goal of our research in this program is to develop new techniques for the analysis of volatile trace elements in very small samples using inductively coupled plasma mass spectrometry (ICP-MS) in preparation for samples returned by the Stardust mission. The instrument that will serve as the basis of our experiments is the ELEMENT2 high-resolution ICP-MS. We have spent the past year designing the laboratory to house this instrument as well as space to store and prepare samples returned by the Stardust mission. Unfortunately, the location that we had initially selected for the instrument turned out to be insufficient for our needs. This was determined almost eight months into the first year of our funding cycle, after extensive work including the production of engineering drawings. However, during this time the Lunar and Planetary Laboratory was selected to lead Phoenix, the first Mars Scout mission. As a result of this award LPL purchased a new, 50,000 square foot building. We have acquired 1400 square feet of laboratory space in this new facility. Four-hundred square feet will be used for a class-100 clean room. This area is designated for storage and preparation of extraterrestrial materials. The additional 1000 square feet will house the ELEMENT2 ICP-MS and peripheral devices. This is an enormous amount of space for this instrument, but it provides plenty of room for expansion in the future. The ICP-MS and the clean room facilities have been purchased. The instrument has been delivered. The startup time for this instrument is relatively short and we expect to be collecting our first data by mid-summer.
Lauretta, D. S.↗
NASA's Desert RATS Science Backroom: Remotely Supporting Planetary Exploration
NASA's Desert Research and Technology Studies (Desert RATS) is a multi-year series of tests designed to exercise planetary surface hardware and operations in conditions where long-distance, multi-day roving is achievable. In recent years, a D-RATS science backroom has conducted science operations and tested specific operational approaches. Approaches from the Apollo, Mars Exploration Rovers and Phoenix missions were merged to become the baseline for these tests. In 2010, six days of lunar-analog traverse operations were conducted during each week of the 2-week test, with three traverse days each week conducted with voice and data communications continuously available, and three traverse days conducted with only two 1-hour communications periods per day. In 2011, a variety of exploration science scenarios that tested operations for a near-earth asteroid using several small exploration vehicles and a single habitat. Communications between the ground and the crew in the field used a 50-second one-way delay, while communications between crewmembers in the exploration vehicles and the habitat were instantaneous. Within these frameworks, the team evaluated integrated science operations management using real-time science operations to oversee daily crew activities, and strategic level evaluations of science data and daily traverse results. Exploration scenarios for Mars may include architectural similarities such as crew in a habitat communicating with crew in a vehicle, but significantly more autonomy will have to be given to the crew rather than step-by-step interaction with a science backroom on Earth.
Cohen, Barbara A.↗
MSLICE Science Activity Planner for the Mars Science Laboratory Mission
MSLICE (Mars Science Laboratory InterfaCE) is the tool used by scientists and engineers on the Mars Science Laboratory rover mission to visualize the data returned by the rover and collaboratively plan its activities. It enables users to efficiently and effectively search all mission data to find applicable products (e.g., images, targets, activity plans, sequences, etc.), view and plan the traverse of the rover in HiRISE (High Resolution Imaging Science Experiment) images, visualize data acquired by the rover, and develop, model, and validate the activities the rover will perform. MSLICE enables users to securely contribute to the mission s activity planning process from their home institutions using off-the-shelf laptop computers. This software has made use of several plug-ins (software components) developed for previous missions [e.g., Mars Exploration Rover (MER), Phoenix Mars Lander (PHX)] and other technology tasks. It has a simple, intuitive, and powerful search capability. For any given mission, there is a huge amount of data and associated metadata that is generated. To help users sort through this information, MSLICE s search interface is provided in a similar fashion as major Internet search engines. With regard to the HiRISE visualization of the rover s traverse, this view is a map of the mission that allows scientists to easily gauge where the rover has been and where it is likely to go. The map also provides the ability to correct or adjust the known position of the rover through the overlaying of images acquired from the rover on top of the HiRISE image. A user can then correct the rover s position by collocating the visible features in the overlays with the same features in the underlying HiRISE image. MSLICE users can also rapidly search all mission data for images that contain a point specified by the user in another image or panoramic mosaic. MSLICE allows the creation of targets, which provides a way for scientists to collaboratively name features on the surface of Mars. These targets can also be used to convey instrument-pointing information to the activity plan. The software allows users to develop a plan of what they would like the rover to accomplish for a given time period. When developing the plan, the user can input constraints between activities or groups of activities. MSLICE will enforce said constraints and ensure that all mission flight rules are satisfied.
Powell, Mark W.↗
What Machines Need to Learn to Support Human Problem-Solving
In the development of intelligent systems that interact with humans, there is often confusion between how the system functions with respect to the humans it interacts with and how it interfaces with those humans. The former is a much deeper challenge than the latter it requires a system-level understanding of evolving human roles as well as an understanding of what humans need to know (and when) in order to perform their tasks. This talk will focus on some of the challenges in getting this right as well as on the type of research and development that results in successful human-autonomy teaming. Brief Bio: Dr. Alonso Vera is Chief of the Human Systems Integration Division at NASA Ames Research Center. His expertise is in human-computer interaction, information systems, artificial intelligence, and computational human performance modeling. He has led the design, development and deployment of mission software systems across NASA robotic and human space flight missions, including Mars Exploration Rovers, Phoenix Mars Lander, ISS, Constellation, and Exploration Systems. Dr. Vera received a Bachelor of Science with First Class Honors from McGill University in 1985 and a Ph.D. from Cornell University in 1991. He went on to a Post-Doctoral Fellowship in the School of Computer Science at Carnegie Mellon University from 1990-93.
intelligent systems↗
Software Reuse in the Planetary Context: The JPL/MIPL Mars Program Suite
Reuse greatly reduces development costs. Savings can be invested in new/improved capabilities Or returned to sponsor Worth the extra time to "do it right" Operator training greatly reduced. MIPL MER personnel can step into MSL easily because the programs are familiar. Application programs much easier to write. Can assume core capabilities exist already. Multimission Instrument (Image) Processing Lab at MIPL Responsible for the ground-based instrument data processing for (among other things) all recent in-situ Mars missions: Mars Pathfinder Mars Polar Lander (MPL) Mars Exploration Rovers (MER) Phoenix Mars Science Lab (MSL) Responsibilities for in-situ missions Reconstruction of instrument data from telemetry Systematic creation of Reduced Data Records (RDRs) for images Creation of special products for operations, science, and public outreach In the critical path for operations MIPL products required for planning the next Sol s activities
Software Design↗
Entry, Descent, and Landing Communications for the 2007 Phoenix Mars Lander
This paper addresses NASA's requirement on the 2007 Phoenix Mars Lander to provide spacecraft communications during entry, descent, and landing on Mars to allow the identification of probable root cause should any mission failure occur. The Phoenix mission launched on 4 August 2007 and will land on 25 May 2008 on the northern plains of Mars to conduct a three-month study of the Martian environment. The paper discusses the architectural trades in designing a communications link and surveys the entry, descent, and landing communications approaches taken by previous missions. It then discusses the Phoenix-specific constraints and degrees of freedoms and presents a novel and robust implementation approach to entry, descent, and landing communications. The overall methodology and conclusions described herein can serve as a pathfinder for the entry, descent, and landing communications architecture and implementation of future Mars landed missions.
communications↗