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Supporting Increased Autonomy for a Mars Rover

This paper presents an architecture and a set of technology for performing autonomous science and commanding for a planetary rover. The MER rovers have outperformed all expectations by lasting over 1100 sols (or Martian days), which is an order of magnitude longer than their original mission goal. The longevity of these vehicles will have significant effects on future mission goals, such as objectives for the Mars Science Laboratory rover mission (scheduled to fly in 2009) and the Astrobiology Field Lab rover mission (scheduled to potentially fly in 2016). Common objectives for future rover missions to Mars include the handling of opportunistic science, long-range or multi-sol driving, and onboard fault diagnosis and recovery. To handle these goals, a number of new technologies have been developed and integrated as part of the CLARAty architecture. CLARAty is a unified and reusable robotic architecture that was designed to simplify the integration, testing and maturation of robotic technologies for future missions. This paper focuses on technology comprising the CLARAty Decision Layer, which was designed to support and validate high-level autonomy technologies, such as automated planning and scheduling and onboard data analysis.

autonomous science↗

Multi-Mission Terrain Classifier for Safe Rover Navigation and Automated Science

We previously presented Soil Property and Object Classification (SPOC), a machine learning-based terrain classifier for Mars rovers, for automatically segmenting rover images by its surface type such as sand and bedrock. This paper presents a number of practical improvements to pave the way for potential future onboard deployment. First, we achieved 97.0% overall pixel accuracy, evaluated against the classification generated by human experts on images from Mars Science Laboratory (MSL) missions. The substantial increase in accuracy was primarily enabled by the sheer volume of data used for training; we created a new large-scale dataset of Martian terrain labels, namely AI4Mars, which contains more than 400k labels contributed by citizen scientists for 50k images taken by the Mars Exploration Rovers (MER) and Mars Science Laboratory (MSL) rover. Second, we demonstrated that SPOC can quickly adapt to a new mission landed on a previously unseen site. Specifically, we pretrained a model with MER and MSL data from the AI4Mars dataset and then adapted to the Mars 2020 Rover (M2020) by feeding a small volume of data between Sol 0 and 157; the adapted model was tested on Sol 200-203 and resulted in 84.2% overall pixel accuracy and 93.4% reliability (recall) for detecting sand, the most concerning class for rover’s traversability. Third, we found that pretraining can substantially mitigate the decline of accuracy over time. We showed that the performance of a SPOC model pretrained with the ImageNet dataset and then trained by MSL images only up to Sol 390 remains comparable to a model trained by images up to Sol 1689 on the test data after Sol 1689. Fourth, we reimplemented SPOC with a light-weight convolutional neural network (CNN), MobileNetV2, which typically runs within tens of milliseconds (ms) on mobile processors such as Qualcomm’s Snapdragon. Finally, we released the AI4Mars dataset to the public to encourage open innovation.

Ono, Masahiro↗

Multi-Mission Radioisotope Thermoelectric Generator Heat Exchangers for the Mars Science Laboratory Rover

The addition of the Multi-Mission Radioisotope Thermoelectric Generator (MMRTG) to the Mars Science Laboratory (MSL) Rover requires an advanced thermal control system that is able to both recover and reject the waste heat from the MMRTG as needed in order to maintain the onboard electronics at benign temperatures despite the extreme and widely varying environmental conditions experienced both on the way to Mars and on the Martian surface. Based on the previously successful Mars landed mission thermal control schemes, a mechanically pumped fluid loop (MPFL) architecture was selected as the most robust and efficient means for meeting the MSL thermal requirements. The MSL heat recovery and rejection system (HRS) is comprised of two Freon (CFC-11) MPFLs that interact closely with one another to provide comprehensive thermal management throughout all mission phases. The first loop, called the Rover HRS (RHRS), consists of a set of pumps, thermal control valves, and heat exchangers (HXs) that enables the transport of heat from the MMRTG to the rover electronics during cold conditions or from the electronics straight to the environment for immediate heat rejection during warm conditions. The second loop, called the Cruise HRS (CHRS), is thermally coupled to the RHRS during the cruise to Mars, and provides a means for dissipating the waste heat more directly from the MMRTG as well as from both the cruise stage and rover avionics by promoting circulation to the cruise stage radiators. A multifunctional structure was developed that is capable of both collecting waste heat from the MMRTG and rejecting the waste heat to the surrounding environment. It consists of a pair of honeycomb core sandwich panels with HRS tubes bonded to both sides. Two similar HX assemblies were designed to surround the MMRTG on the aft end of the rover. Heat acquisition is accomplished on the interior (MMRTG facing) surface of each HX while heat rejection is accomplished on the exterior surface of each HX. Since these two surfaces need to be at very different temperatures in order for the fluid loops to perform efficiently, they need to be thermally isolated from one another. The HXs were therefore designed for high in-plane thermal conductivity and extremely low through-thickness thermal conductivity by using aluminum facesheets and aerogel as insulation inside a composite honeycomb core. Complex assemblies of hand-welded and uniquely bent aluminum tubes are bonded onto each side of the HX panels, and are specifically designed to be easily mated and demated to the rest of the RHRS in order to ease the integration effort.

Mastropietro, A. J.↗

Coordinating Multiple Spacecraft Assets for Joint Science Campaigns

This paper describes technology to support a new paradigm of space science campaigns. These campaigns enable opportunistic science observations to be autonomously coordinated between multiple spacecraft. Coordinated spacecraft can consist of multiple orbiters, landers, rovers, or other in-situ vehicles (such as an aerobot). In this paradigm, opportunistic science detections can be cued by any of these assets where additional spacecraft are requested to take further observations characterizing the identified event or surface feature. Such coordination will enable a number of science campaigns not possible with present spacecraft technology. Examples from Mars include enabling rapid data collection from multiple craft on dynamic events such as new Mars dark slope streaks, dust-devils or trace gases. Technology to support the identification of opportunistic science events and/or the re-tasking of a spacecraft to take new measurements of the event is already in place on several individual missions such as the Mars Exploration Rover (MER) Mission and the Earth Observing One (EO1) Mission. This technology includes onboard data analysis techniques as well as capabilities for planning and scheduling. This paper describes how these techniques can be cue and coordinate multiple spacecraft in observing the same science event from their different vantage points.

automated commanding↗

Microbial Habitability in Gale Crater: Sample Analysis at Mars (SAM) Instrument Detection of Microbial Essential Carbon and Nitrogen

Chemical analyses of Mars soils and sediments from previous landed missions have demonstrated that Mars surface materials possessed major (e.g., P, K, Ca, Mg, S) and minor (e.g., Fe, Mn, Zn, Ni, Cl) elements essential to support microbial life. However, the detection of microbial essential organic-carbon (C) and nitrate have been more elusive until the Mars Science Laboratory (MSL) rover mission. Nitrate and organic-C in Gale Crater, Mars have been detected by the Sample Analysis at Mars (SAM) instrument onboard the MSL Curiosity rover. Eolian fines and drilled sedimentary rock samples were heated in the SAM oven from approximately 30 to 860 degrees Centigrade where evolved gases (e.g., nitrous oxide (NO) and CO2) were released and analyzed by SAM’s quadrupole mass spectrometer (MS). The temperatures of evolved NO was assigned to nitrate while evolved CO2 was assigned to organic-C and carbonate. The CO2 releases in several samples occurred below 450 degrees Centigrade suggesting organic-C dominated in those samples. As much as 7 micromoles NO3-N per gram and 200 micromoles CO2-C per gram have been detected in the Gale Crater materials. These N and C levels coupled with assumed microbial biomass (9 x 10 (sup -7) micrograms per cell) C (0.5 micrograms C per micrograms cell) and N (0.14 micrograms N per micrograms cell) requirements, suggests that less than 1 percent and less than 10 percent of Gale Crater C and N, respectively, would be required if available, to accommodate biomass requirements of 1 by 10 (sup 5) cells per gram sediment. While nitrogen is the limiting nutrient, the potential exists that sufficient N and organic-C were present to support limited heterotrophic microbial populations that may have existed on ancient Mars.

Sutter, B.↗

Geochemical Properties of Rocks and Soils in Gusev Crater, Mars: APXS Results from Cumberland Ridge to Home Plate

The Mars Exploration Rover Spirit landed in Gusev crater on Jan. 4, 2004. Spirit has traversed the Gusev crater plains, ascended to the top of Husband Hill, and entered into the Inner Basin of the Columbia Hills. The Athena science payload onboard Spirit has recorded numerous measurements on the chemistry and mineralogy of materials encountered during nearly 2 Mars years of operation within the crater. Rocks and soils have been grouped into classes based upon their unique differences in mineralogy and chemistry [1-3]. Some of the most significant chemical discoveries include the composition of Adirondack class flood basalts [4-6]; high sulfur in Clovis and Peace Class rocks [7,2]; high P and Ti in Wishstone Class rocks [7,2]; composition of alkalic basalts [2,6]; very high S in Paso Robles class soils [7,2], and the possible occurrence of a smectite-like chemical composition in Independence class rocks [8]. Water has played a significant role in the alteration of rocks and soils in the Columbia Hills. The occurrence of goethite and ferric sulfate alone suggests that liquid water was involved in their formation [3]. The pervasively altered materials in Husband Hill outcrops and rocks may have formed by the aqueous alteration of basaltic rocks, volcaniclastic materials, and/or impact ejecta by solutions that were rich in acid-volatile elements [2]. The objective of this paper is to provide an update on the health of the Alpha Particle X-ray Spectrometer (APXS) and to expand the geochemical dataset from sol 470 to sol 1368. Specific objectives are to (1) update the rock and soil classifications, (2) characterize elemental relationships among the major rock and soil classes, and (3) evaluate the involvement of water in the formation or alteration of the materials in these classes.

Ming, D. W.↗

Inspection with Robotic Microscopic Imaging

Future Mars rover missions will require more advanced onboard autonomy for increased scientific productivity and reduced mission operations cost. One such form of autonomy can be achieved by targeting precise science measurements to be made in a single command uplink cycle. In this paper we present an overview of our solution to the subproblems of navigating a rover into place for microscopic imaging, mapping an instrument target point selected by an operator using far away science camera images to close up hazard camera images, verifying the safety of placing a contact instrument on a sample or finding nearby safe points, and analyzing the data that comes back from the rover. The system developed includes portions used in the Multiple Target Single Cycle Instrument Placement demonstration at NASA Ames in October 2004, and portions of the MI Toolkit delivered to the Athena Microscopic Imager Instrument Team for the MER mission still operating on Mars today. Some of the component technologies are also under consideration for MSL mission infusion.

Pedersen, Liam↗

In Situ Analysis of Martian Regolith with the SAM Experiment During the First Mars Year of the MSL Mission: Identification of Organic Molecules by Gas Chromatography from Laboratory Measurements

The Sample Analysis at Mars (SAM) instrument onboard the Curiosity rover, is specifically designed for in situ molecular and isotopic analyses of martian surface materials and atmosphere. It contributes to the Mars Science Laboratory (MSL) missions primary scientific goal to characterize the potential past, present or future habitability of Mars. In all of the analyses of solid samples delivered to SAM so far, chlorinated organic compounds have been detected above instrument background levels and identified by gas chromatography coupled to mass spectrometry (GC-MS) (Freissinet et al., 2015; Glavin et al., 2013). While some of these may originate from reactions between oxychlorines and terrestrial organic carbon present in the instrument background (Glavin et al., 2013), others have been demonstrated to originate from indigenous organic carbon present in samples (Freissinet et al., 2015). We present here laboratory calibrations that focused on the analyses performed with the MXT-CLP GC column (SAM GC-5 channel) used for nearly all of the GC-MS analyses of the martian soil samples carried out with SAM to date. Complementary to the mass spectrometric data, gas chromatography allows us to separate and identify the species analyzable in a nominal SAM-GC run time of about 21 min. To characterize the analytical capabilities of this channel within the SAM Flight Model (FM) operating conditions on Mars, and their implications on the detection of organic matter, it is required to perform laboratory experimental tests and calibrations on spare model components. This work assesses the SAM flight GC-5 column efficiency, confirms the identification of the molecules based on their retention time, and enables a better understanding of the behavior of the SAM injection trap (IT) and its release of organic molecules. This work will enable further optimization of the SAM-GC runs for additional samples to be analyzed during the MSL mission.

analysis↗

NASA GRC Stirling Technology Development Overview

The Department of Energy, Lockheed Martin (LM), Stirling Technology Company, and NASA Glenn Research Center (GRC) are developing a high-efficiency Stirling Radioisotope Generator (SRG) for potential NASA Space Science missions. The SRG is being developed for multimission use, including providing spacecraft onboard electric power for NASA deep space missions and power for unmanned Mars rovers. NASA GRC is conducting an in- house supporting technology project to assist in developing the Stirling convertor for space qualification and mission implementation. Preparations are underway for a thermalhacuum system demonstration and unattended operation during endurance testing of the 55-We Technology Demonstration Convertors. Heater head life assessment efforts continue, including verification of the heater head brazing and heat treatment schedules and evaluation of any potential regenerator oxidation. Long-term magnet aging tests are continuing to characterize any possible aging in the strength or demagnetization resistance of the permanent magnets used in the linear alternator. Testing of the magnet/lamination epoxy bond for performance and lifetime characteristics is now underway. These efforts are expected to provide key inputs as the system integrator, LM, begins system development of the SRG. GRC is also developing advanced technology for Stirling convertors. Cleveland State University (CSU) is progressing toward a multi-dimensional Stirling computational fluid dynamics code, capable of modeling complete convertors. Validation efforts at both CSU and the University of Minnesota are complementing the code development. New efforts have been started this year on a lightweight convertor, advanced controllers, high-temperature materials, and an end-to-end system dynamics model. Performance and mass improvement goals have been established for second- and third-generation Stirling radioisotope power systems.

Thieme, Lanny G.↗

United States planetary rover status: 1989

A spectrum of concepts for planetary rovers and rover missions, is covered. Rovers studied range from tiny micro rovers to large and highly automated vehicles capable of traveling hundreds of kilometers and performing complex tasks. Rover concepts are addressed both for the Moon and Mars, including a Lunar/Mars common rover capable of supporting either program with relatively small modifications. Mission requirements considered include both Science and Human Exploration. Studies include a range of autonomy in rovers, from interactive teleoperated systems to those requiring and onboard System Executive making very high level decisions. Both high and low technology rover options are addressed. Subsystems are described for a representative selection of these rovers, including: Mobility, Sample Acquisition, Science, Vehicle Control, Thermal Control, Local Navigation, Computation and Communications. System descriptions of rover concepts include diagrams, technology levels, system characteristics, and performance measurement in terms of distance covered, samples collected, and area surveyed for specific representative missions. Rover development schedules and costs are addressed for Lunar and Mars exploration initiatives.

Pivirotto, Donna L. S.↗

Enhancing Science and Automating Operations using Onboard Autonomy

In this paper, we will describe the evolution of the software from prototype to full time operation onboard Earth Observing One (EO-1). We will quantify the increase in science, decrease in operations cost, and streamlining of operations procedures. Included will be a description of how this software was adapted post-launch to the EO-1 mission, which had very limited computing resources which constrained the autonomy flight software. We will discuss ongoing deployments of this software to the Mars Exploration Rovers and Mars Odyssey Missions as well as a discussion of lessons learned during this project. Finally, we will discuss how the onboard autonomy has been used in conjunction with other satellites and ground sensors to form an autonomous sensor-web to study volcanoes, floods, sea-ice topography, and wild fires. As demonstrated on EO-1, onboard autonomy is a revolutionary advance that will change the operations approach on future NASA missions...

Earth Observing One (EO-1)↗

MARS Science Laboratory Post-Landing Location Estimation Using Post2 Trajectory Simulation

The Mars Science Laboratory (MSL) Curiosity rover landed safely on Mars August 5th, 2012 at 10:32 PDT, Earth Received Time. Immediately following touchdown confirmation, best estimates of position were calculated to assist in determining official MSL locations during entry, descent and landing (EDL). Additionally, estimated balance mass impact locations were provided and used to assess how predicted locations compared to actual locations. For MSL, the Program to Optimize Simulated Trajectories II (POST2) was the primary trajectory simulation tool used to predict and assess EDL performance from cruise stage separation through rover touchdown and descent stage impact. This POST2 simulation was used during MSL operations for EDL trajectory analyses in support of maneuver decisions and imaging MSL during EDL. This paper presents the simulation methodology used and results of pre/post-landing MSL location estimates and associated imagery from Mars Reconnaissance Orbiter s (MRO) High Resolution Imaging Science Experiment (HiRISE) camera. To generate these estimates, the MSL POST2 simulation nominal and Monte Carlo data, flight telemetry from onboard navigation, relay orbiter positions from MRO and Mars Odyssey and HiRISE generated digital elevation models (DEM) were utilized. A comparison of predicted rover and balance mass location estimations against actual locations are also presented.

Davis, J. L.↗

Conceptual studies on the integration of a nuclear reactor system to a manned rover for Mars missions

Multiyear civilian manned missions to explore the surface of Mars are thought by NASA to be possible early in the next century. Expeditions to Mars, as well as permanent bases, are envisioned to require enhanced piloted vehicles to conduct science and exploration activities. Piloted rovers, with 30 kWe user net power (for drilling, sampling and sample analysis, onboard computer and computer instrumentation, vehicle thermal management, and astronaut life support systems) in addition to mobility are being considered. The rover design, for this study, included a four car train type vehicle complete with a hybrid solar photovoltaic/regenerative fuel cell auxiliary power system (APS). This system was designed to power the primary control vehicle. The APS supplies life support power for four astronauts and a limited degree of mobility allowing the primary control vehicle to limp back to either a permanent base or an accent vehicle. The results showed that the APS described above, with a mass of 667 kg, was sufficient to provide live support power and a top speed of five km/h for 6 hours per day. It was also seen that the factors that had the largest effect on the APS mass were the life support power, the number of astronauts, and the PV cell efficiency. The topics covered include: (1) power system options; (2) rover layout and design; (3) parametric analysis of total mass and power requirements for a manned Mars rover; (4) radiation shield design; and (5) energy conversion systems.

El-Genk, Mohamed S.↗

Using Planning, Scheduling and Execution for Autonomous Mars Rover Operations

With each new rover mission to Mars, rovers are traveling significantly longer distances. This distance increase raises not only the opportunities for science data collection, but also amplifies the amount of environment and rover state uncertainty that must be handled in rover operations. This paper describes how planning, scheduling and execution techniques can be used onboard a rover to autonomously generate and execute rover activities and in particular to handle new science opportunities that have been identified dynamically. We also discuss some of the particular challenges we face in supporting autonomous rover decision-making. These include interaction with rover navigation and path-planning software and handling large amounts of uncertainty in state and resource estimations. Finally, we describe our experiences in testing this work using several Mars rover prototypes in a realistic environment.

automated rover operations↗

Memory-Efficient Onboard Rock Segmentation

Rockster-MER is an autonomous perception capability that was uploaded to the Mars Exploration Rover Opportunity in December 2009. This software provides the vision front end for a larger software system known as AEGIS (Autonomous Exploration for Gathering Increased Science), which was recently named 2011 NASA Software of the Year. As the first step in AEGIS, Rockster-MER analyzes an image captured by the rover, and detects and automatically identifies the boundary contours of rocks and regions of outcrop present in the scene. This initial segmentation step reduces the data volume from millions of pixels into hundreds (or fewer) of rock contours. Subsequent stages of AEGIS then prioritize the best rocks according to scientist- defined preferences and take high-resolution, follow-up observations. Rockster-MER has performed robustly from the outset on the Mars surface under challenging conditions. Rockster-MER is a specially adapted, embedded version of the original Rockster algorithm ("Rock Segmentation Through Edge Regrouping," (NPO- 44417) Software Tech Briefs, September 2008, p. 25). Although the new version performs the same basic task as the original code, the software has been (1) significantly upgraded to overcome the severe onboard re source limitations (CPU, memory, power, time) and (2) "bulletproofed" through code reviews and extensive testing and profiling to avoid the occurrence of faults. Because of the limited computational power of the RAD6000 flight processor on Opportunity (roughly two orders of magnitude slower than a modern workstation), the algorithm was heavily tuned to improve its speed. Several functional elements of the original algorithm were removed as a result of an extensive cost/benefit analysis conducted on a large set of archived rover images. The algorithm was also required to operate below a stringent 4MB high-water memory ceiling; hence, numerous tricks and strategies were introduced to reduce the memory footprint. Local filtering operations were re-coded to operate on horizontal data stripes across the image. Data types were reduced to smaller sizes where possible. Binary- valued intermediate results were squeezed into a more compact, one-bit-per-pixel representation through bit packing and bit manipulation macros. An estimated 16-fold reduction in memory footprint relative to the original Rockster algorithm was achieved. The resulting memory footprint is less than four times the base image size. Also, memory allocation calls were modified to draw from a static pool and consolidated to reduce memory management overhead and fragmentation. Rockster-MER has now been run onboard Opportunity numerous times as part of AEGIS with exceptional performance. Sample results are available on the AEGIS website at http://aegis.jpl.nasa.gov.

Burl, Michael C.↗

Investigations Using Laboratory Testbeds to Interpret Flight Instrument Datasets from Mars Robotic Missions

The Astromaterials Research and Exploration Science Directorate at the NASA Johnson Space Center (JSC) has laboratory instrumentation that mimic the capabilities of corresponding flight instruments to enable interpretation of datasets returned from Mars robotic missions. The lab instruments have been and continue to be applied to datasets for the Moessbauer Spectrometer (MB) on the Mars Exploration Rovers (MER), the Thermal & Evolved Gas Analyzer (TEGA) on the Mars Phoenix Scout, the CRISM instrument on the Mars Reconnaissance Orbiter Missions and will be applied to datasets for the Sample Analysis at Mars (SAM), Chemistry and Mineralogy (CheMin) and Chemistry & Camera (ChemCam) instruments onboard the Mars Science Laboratory (MSL). The laboratory instruments can analyze analog samples at costs that are substantially lower than engineering models of flight instruments, but their success to enable interpretation of flight data depends on how closely their capabilities mimic those of the flight instrument. The JSC lab MB instruments are equivalent to the MER instruments except without flight qualified components and no reference channel Co-57 source. Data from analog samples were critical for identification of Mg-Fe carbonate at Gusev crater. Fiber-optic VNIR spectrometers are used to obtain CRISM-like spectral data over the range 350-2500 nm, and data for Fephyllosilicates show irreversible behavior in the electronic transition region upon dessication. The MB and VNIR instruments can be operated within chambers where, for example, the absolute H2O concentration can be measured and controlled. Phoenix's TEGA consisted of a calorimeter coupled to a mass spectrometer (MS). The JSC laboratory testbed instrument consisted of a differential scanning calorimeter (DSC) coupled to a MS configured to operate under total pressure (12 mbar), heating rate (20 C/min), and purge gas composition (N2) analogous to the flight TEGA. TEGA detected CO2 release at both low (400-680 C) and high (725-820 C) temperature and an endothermic reaction in concert with the high temperature release. The high-temperature thermal decomposition is consistent with calcite, dolomite, or ankerite, (3-6 wt.%) or any combination of these phase based upon laboratory testbed experiments. Recent laboratory experiments suggest that the low temperature CO2 release was caused by a reaction between calcium carbonate and hydrated magnesium perchlorate; although, CO2 release by the oxidation of organic materials and Fe-/Mg-rich carbonates cannot be ruled out. MSL landed in Gale crater on August 5, 2012. Although numerous analog samples have been analyzed on the JSC laboratory testbeds, no SAM, CheMin, or ChemCam analyses have been acquired by MSL to date. The JSC SAM laboratory testbed consists of a thermal analyzer coupled with a MS configured to operate under total pressure (30 mbar), heating rate (35 C/min), and purge gas composition (He) analogous to the flight SAM. The CheMin and ChemCam laboratory testbeds were developed and built by inXitu, Inc. and Los Alamos National Laboratory, respectively, to acquire datasets relevant to the MSL CheMin and ChemCam flight instruments.

Ming, D. W.↗

Operation and Performance of the Mars Exploration Rover Imaging System on the Martian Surface

This slide presentation details the Mars Exploration Rover (MER) imaging system. Over 144,000 images have been gathered from all Mars Missions, with 83.5% of them being gathered by MER. Each Rover has 9 cameras (Navcam, front and rear Hazcam, Pancam, Microscopic Image, Descent Camera, Engineering Camera, Science Camera) and produces 1024 x 1024 (1 Megapixel) images in the same format. All onboard image processing code is implemented in flight software and includes extensive processing capabilities such as autoexposure, flat field correction, image orientation, thumbnail generation, subframing, and image compression. Ground image processing is done at the Jet Propulsion Laboratory's Multimission Image Processing Laboratory using Video Image Communication and Retrieval (VICAR) while stereo processing (left/right pairs) is provided for raw image, radiometric correction; solar energy maps,triangulation (Cartesian 3-spaces) and slope maps.

imaging↗