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NASA NTRS2000

Acousto-Optic Imaging Spectrometers for Mars Surface Science

NASA's long term plan for Mars sample collection and return requires a highly streamlined approach for spectrally characterizing a landing site, documenting the mineralogical make-up of the site and guiding the collections of samples which represent the diversity of the site. Ideally, image data should be acquired at hundreds of VIS and IR wavelengths, in order to separately distinguish numerous anticipated species, using principal component analysis and linear unmixing. Cameras with bore-sighted point spectrometers can acquire spectra of isolated scene elements, but it requires 10(exp 2) to 10(exp 2) successive motions and precise relative pointing knowledge in order to create a single data cube which qualifies as a spectral map. These and other competing science objectives have to be accomplished within very short lander/rover operational lifetime (a few sols). True, 2-D imaging spectroscopy greatly speeds up the data acquisition process, since the spectra of all pixels in the scene are collected at once. This task can be accomplished with cameras that use electronically tunable acousto-optic tunable filters (AOTFs) as the optical tuning element. AOTFs made from TeO2 are now a mature technology, and operate at wavelengths from near-UV to about 5 microns. Because of incremental improvements in the last few years, present generation devices are rugged, radiation-hard and operate at temperatures down to at least 150K so they can be safely integrated into the ambient temperature optics of in-situ instruments such as planetary or small-body landers. They have been used for ground-based astronomy, and were also baselined for the ST-4 Champollion IR comet lander experiment (CIRCLE), prior to cancellation of the ST-4 mission last year. AIMS (for Acousto-optic Imaging spectrometer), is a prototype lander instrument which is being built at GSFC with support by the NASA OSS Advanced Technologies and Mission Studies, Mars Instrument Definition and Development Program (MIDP). AIMS is capable of tunable spectroscopic imaging of surface mineralogy, ices and dust between 0.5 and 2.4 microns, at a resolving power (lambda/delta lambda) which is typically several hundred. The design spatial resolution, similar to IMP and SSI, will allow mapping at scales down to about 1 cm.

Glenar, D. A.↗

NASA NTRS2005

Vision and "Hand-Eye" Coordination for the Fujitsu HOAP-2 Humanoid Robot

Software was developed for a Fujitsu HOAP-2 humanoid robot to demonstrate that such "human form" robots can be used to perform useful tasks in an unknown environment; specifically, that they can operate with or in the place of humans to carry out construction operations necessary for space exploration, such as building or maintaining planetary surface habitats for humans. This paper describes the autonomous vision and hand-eye coordination software that enables the HOAP-2 to locate and manipulate objects. Simple vision and pattern detection algorithms including color filtering, noise filtering, image segmentation, orientation filters, and a feedback controlled tracking system enable the robot to locate marked building materials in the workspace. Experimentally determined spatial mappings associate locations in the visual field with the arm joint angles and trajectories necessary to reach these locations, allowing the robot to reach for and manipulate the building materials. These capabilities, when combined with locomotion capabilities, enable the robot to operate autonomously in an unknown workspace.

Moore, Jeffrey D.↗

NASA NTRS2015

Lidar Sensor Performance in Closed-Loop Flight Testing of the Morpheus Rocket-Propelled Lander to a Lunar-Like Hazard Field

For the first time, a suite of three lidar sensors have been used in flight to scan a lunar-like hazard field, identify a safe landing site, and, in concert with an experimental Guidance, Navigation, and Control (GN&C) system, guide the Morpheus autonomous, rocket-propelled, free-flying test bed to a safe landing on the hazard field. The lidar sensors and GN&C system are part of the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project which has been seeking to develop a system capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The 3-D imaging flash lidar is a second generation, compact, real-time, air-cooled instrument developed from a number of cutting-edge components from industry and NASA and is used as part of the ALHAT Hazard Detection System (HDS) to scan the hazard field and build a 3-D Digital Elevation Map (DEM) in near-real time for identifying safe sites. The flash lidar is capable of identifying a 30 cm hazard from a slant range of 1 km with its 8 cm range precision at 1 sigma. The flash lidar is also used in Hazard Relative Navigation (HRN) to provide position updates down to a 250m slant range to the ALHAT navigation filter as it guides Morpheus to the safe site. The Doppler Lidar system has been developed within NASA to provide velocity measurements with an accuracy of 0.2 cm/sec and range measurements with an accuracy of 17 cm both from a maximum range of 2,200 m to a minimum range of several meters above the ground. The Doppler Lidar's measurements are fed into the ALHAT navigation filter to provide lander guidance to the safe site. The Laser Altimeter, also developed within NASA, provides range measurements with an accuracy of 5 cm from a maximum operational range of 30 km down to 1 m and, being a separate sensor from the flash lidar, can provide range along a separate vector. The Laser Altimeter measurements are also fed into the ALHAT navigation filter to provide lander guidance to the safe site. The flight tests served as the culmination of the TRL 6 journey for the lidar suite and included launch from a pad situated at the NASA-Kennedy Space Center Shuttle Landing Facility (SLF) runway, a lunar-like descent trajectory from an altitude of 250m, and landing on a lunar-like hazard field of rocks, craters, hazardous slopes, and safe sites 400m down-range just off the North end of the runway. The tests both confirmed the expected performance and also revealed several challenges present in the flight-like environment which will feed into future TRL advancement of the sensors. The flash lidar identified hazards as small as 30 cm from the maximum slant range of 450 m which Morpheus could provide, however, it was occasionally susceptible to an increase in range noise due to heated air from the Morpheus rocket plume which entered its Field-of-View (FOV). The flash lidar was also susceptible to pre-triggering on dust during the HRN phase which was created during launch and transported by the wind. The Doppler Lidar provided velocity and range measurements to the expected accuracy levels yet it was also susceptible to signal degradation due to air heated by the rocket engine. The Laser Altimeter, operating with a degraded transmitter laser, also showed signal attenuation over a few seconds at a specific phase of the flight due to the heat plume generated by the rocket engine.

Roback, Vincent E.↗

NASA NTRSDate not supplied

6 um Pulsed OP-GaAs OPO Laser for Unambiguous Water Ice Detection on the Moon and Other Planetary Bodies

NASA demands a laser transmitter for planetary remote sensing to detect water-ice on the Moon and other planetary bodies. Based on the measurement of the Moon Mineralogy Mapper (M3) instrument, the discovery of water ice on the Moon was acclaimed, but the measurement is disputed because OH- and/or H2O-bearing materials share the absorption line around 3 μm wavelength. Lunar Flashlight, another mission project exploring the surface of Moon which will be launched later this year, enables to map the minerals on dark area of the Moon, but could not resolve the above-mentioned ambiguity. The absorption of 6.08 μm light is uniquely associated with the bending resonance of H2O since there is no comparable vibration in confounding OH-bearing materials. 6.08 μm laser between the atmospheric windows: middle-wave infrared (3-5 μm) and long-wave infrared (8-12 μm) has not been commercially available. Our approach is a Q-switched Ho:YLF laser pumped the orientation-pattern Gallium Arsenide optical parametric oscillator (OP-GaAs OPO) for generating high-energy laser pulses at the wavelength of 6.08 μm. In the current design, a 1.94 μm Tm:fiber is used as the pump source. In the compact design, a 1.94 μm laser diode will replace the Tm:fiber laser as the pump source. We will combine this proposed mid-infrared laser with the latest HgCdTe avalanche photodiode (APD) array to design a lidar for detecting water ice on the Moon and Mars from their respective orbits, enabling novel science and in-situ resource utilization. Our instrument is an enabling technology aboard the Artemis program and others.

mid-infrared laser↗

NASA NTRS1989

Space Shuttle to deploy Magellan planetary science mission

The objectives of Space Shuttle Mission STS-30 are described along with major flight activities, prelaunch and launch operations, trajectory sequence of events, and landing and post-landing operations. The primary objective of STS-30 is to successfully deploy the Magellan spacecraft into low earth orbit. Following deployment, Magellan will be propelled to its Venus trajectory by an Inertial Upper Stage booster. The objectives of the Magellan mission are to obtain radar images of more than 70 percent of Venus' surface, a near-global topographic map, and near-global gravity field data. Secondary STS-30 payloads include the Fluids Experiment Apparatus (FEA) and the Mesoscale Lightning Experiment (MLE).

Source record↗

NASA NTRS1991

The magnetic field of Neptune

The Voyager 2 observations obtained during the Neptune encounter are used to develop a spherical harmonic model of the planetary magnetic field of Neptune. The model yields a dipole of magnitude 0.14 G R(N) exp 3, tilted by 47 deg toward 72 deg west longitude. Neptune's quadrupole is equal to or exceeding in magnitude the surface dipole field; the octupole is also very large, although less well constrained. The characteristics of the Neptune's magnetic field are illustrated using contour maps of the field on the planet's surface.

Connerney, J. E. P.↗

NASA NTRS1990

Planetary astronomy of Mars. Mars data reduction

Grant #NAGW-1408 was specifically awarded to obtain telescopic visible and near-IR spectral imaging of Mars during the 1988 apparition (9/28/88). The observing program was highly successful producing approximately 2 Gbytes of data, but was only funded for one year and virtually all of the funds were spent in data acquisition. The follow-up grant was funded the following year for reduction of these data into a scientifically productive form, which because of the size and nature of our observations, was a non-trivial task. A more detailed scientific analysis of these data (fully reduced) is in progress now and will take a number of years. Extended geologic analyses of the astronomical data are being funded by the NASA Planetary Geology and Geophysics program. The objective was to produce detailed reflectance spectra for contiguous, spatially resolved surface elements covering most of the planet (about +50 degrees to -90 degrees latitude, all longitudes). A total of 6 observing runs, of 3-4 days duration each, were conducted on the University of Arizona's 1.5m telescope on Mt. Bigelow. We present a sketch map showing the approximate total extent of our spectral image coverage. Nearly all of Mars south of 40 degrees N was observed at least once. About half of the area shown was observed multiple times. South of 65 degrees S, including the south polar cap, our coverage is heavily redundant. The first run was conducted June 29 - July 1, 1988 (all dates are UT) to serve as a baseline prior to possible dust storm activity on Mars. The other observing runs were closer to opposition: Sept. 3-6, 13-15, 24-26, and Oct. 5-7 and 16-18. The September and October observations were scheduled to provide maximum longitudinal coverage. This was also intended to provide a balance between surface observations and observations of predicted dust storm activity. No global dust storm developed in 1988, so we have a large volume of data for the surface of Mars.

Singer, Robert B.↗

NASA NTRS1995

NIMS - Callisto Science Objectives and Observational Plans

The Galileo Near Infrared Spectrometer (NIMS) provides a combination of spectroscopic and imaging capabilities. For geological studies of Callisto, this instrument can perform regional mapping while simultaneously determining composition and mineralogy. This data can help determine the surface evolution. NIMS will search for hydroxilated silicates, opaque minerals, and organic material.

Galileo Callisto near infrared spectrometer planet↗

NASA NTRSDate not supplied

Novel Infrared-blocking Aerogel Scattering Filters and Their Applications in Astrophysical and Planetary Science Observations

Infrared-blocking scattering aerogel filters have a broad range of potential applications in astrophysics and planetary science observations in the far-infrared, sub-millimeter, and microwave regimes. Successful dielectric modeling of aerogel filters allowed the fabrication of samples to meet the mechanical and science instrument requirements for several experiments, including the Sub-millimeter Solar Observation Lunar Volatiles Experiment (SSOLVE), the Cosmology Large Angular Scale Surveyor (CLASS), and the Experiment for Cryogenic Large-Aperture Intensity Mapping (EXCLAIM). Thermal multi-physics simulations of the filters predict their performance when integrated into a cryogenic receiver. Prototype filters have survived cryogenic cycling to 4 K with no degradation in mechanical properties.

Kyle R Helson↗

NASA NTRS1987

Planetary radar astronomy

The scientific aims, theoretical principles, techniques and instrumentation, and future potential of radar observations of solar-system objects are discussed in a general overview. Topics examined include the history of radar technology, echo detectability, the Arecibo and Goldstone radar observatories, echo time delay and Doppler shift, radar waveforms, albedo and polarization ratio, measurement of dynamical properties, and the dispersion of echo power. Consideration is given to angular scattering laws; the radar signatures of the moon and inner planets, Mars, and asteroids; topographic relief; delay-Doppler radar maps and their physical interpretation; and radar observations of the icy Galilean satellites of Jupiter, comets, and the rings of Saturn. Diagrams, drawings, photographs, and sample maps and images are provided.

Ostro, Steven J.↗

DOE OSTI2015

IMAGE-PLANE ANALYSIS OF n-POINT-MASS LENS CRITICAL CURVES AND CAUSTICS

The interpretation of gravitational microlensing events caused by planetary systems or multiple stars is based on the n-point-mass lens model. The first planets detected by microlensing were well described by the two-point-mass model of a star with one planet. By the end of 2014, four events involving three-point-mass lenses had been announced. Two of the lenses were stars with two planetary companions each; two were binary stars with a planet orbiting one component. While the two-point-mass model is well understood, the same cannot be said for lenses with three or more components. Even the range of possible critical-curve topologies and caustic geometries of the three-point-mass lens remains unknown. In this paper we provide new tools for mapping the critical-curve topology and caustic cusp number in the parameter space of n-point-mass lenses. We perform our analysis in the image plane of the lens. We show that all contours of the Jacobian are critical curves of re-scaled versions of the lens configuration. Utilizing this property further, we introduce the cusp curve to identify cusp-image positions on all contours simultaneously. In order to track cusp-number changes in caustic metamorphoses, we define the morph curve, which pinpoints the positions of metamorphosis-point images along the cusp curve. We demonstrate the usage of both curves on simple two- and three-point-mass lens examples. For the three simplest caustic metamorphoses we illustrate the local structure of the image and source planes.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS1987

The geology of Picacho Butte, a silicic volcanic dome in northwest Arizona

The purpose of this investigation was to determine the geologic history of Picacho Butte and vicinity through careful mapping of a 38 square kilometer area surrounding the peak. A detailed analysis of the geochemistry and petrology will aid in the development of a petrogenetic model for the area. The relationship of Picacho Butte to regional volcanism in Arizona, and more specifically to nearby volcanic centers can thus be established. Furthermore, in conjunction with this study a search will be made for possible planetary analogs exhibiting photogeologic characteristics similar to those in northern Arizona.

Kisiel, Andrew P.↗

NASA NTRS2000

Radar Reflectivity of the Martian Polar Regions

Radar experiments provide a unique method of probing the surfaces and subsurfaces of planetary bodies. Information on surface and subsurface structures and properties can be extracted from radar data. There is a well developed history of radar investigations of the planet Mars, beginning with the first reports of variations of scattering properties as a function of martian longitude in the mid-1960's. Because of the rapid rotation of Mars, the standard technique of delay-doppler mapping cannot be used as effectively as it is on Mercury and Venus, making it a more difficult radar target. Techniques have been developed to overcome this difficulty, including an inversion technique to combine many doppler-only (CW) experiments from different viewing geometries into a map of surface reflectivity, and new random long-code techniques. These techniques still suffer from ambiguities, however. A third technique which does not suffer from these ambiguities is the combination of the powerful Goldstone transmitter with the VLA as the receiving instrument to create a combined radar imaging instrument. We have used this combined radar instrument to image the surface of Mars in 3.5-cm radar reflectivity during the 1988, 1992/93, and 1999 oppositions. During the 1988 experiments, the residual south polar ice cap (RSPIC) was the brightest radar reflector on the planet - intrinsically brighter than even the Tharsis lava flows. This was quite an unexpected result. In contrast, during the 1992/93 experiments, the residual north polar ice cap (RNPIC) was not nearly so bright, and in fact showed no enhancement at all, This was puzzling, given the 1988 results for the RSPIC. We attributed the lack of a radar reflection enhancement to a combination of three effects: the geometry was different; the season was different; and the intrinsic scattering from the residual ice caps was different. The 1999 experiments provided a chance to test the relative importance of these three effects, since the RNPIC would be visible in a geometry very similar to the RSPIC in 1988, and the season would also be very similar. Preliminary reduction of the data taken in 1999 shows that the RNPIC did in fact show a radar reflectivity enhancement, but that it was still not as bright as the RSPIC in 1988. Details regarding the radar reflectivity of the residual ice caps, as well as the surrounding polar layered terrains (in light of our radar reflectivity data) will be discussed. Additional information is contained in the original extended abstract.

Butler, B. J.↗

NASA NTRS2003

Can MARSIS Measure the Low-Altitude Components of the Mars Magnetic Field?

Measuring the magnetic field anomaly of Mars at low altitudes (e.g. 100-200 km) can be an interesting application of Mars Advance Radar for Subsurface and Ionospheric Sounder (MARSIS). Due to a low HF operation frequency, the radio wave propagating in the ionosphere of Mars, over the magnetic anomaly regions, will be affected and distorted by the localized magnetic field. This distortion in the sounder signal is due to the Faraday rotation and provides information about the strength of the magnetic field. MARSIS is especially sensitive to the radial magnetic field at altitudes where the electron density in the ionosphere peaks (i.e. 100-200 km). Consequently, MARSIS is potentially capable of providing measurements for the radial component of the magnetic field at altitudes between 100 to 200 km that are normally out of reach for orbital magnetometers (with the exception of the aero-braking phase). Such low-altitude measurements would be complementary to already existing measurements at 400 km by MAG-ER on Mars Global Surveyor. This paper will explain the sensitivity of MARSIS as a magnetometer and the method envisioned to measure the radial magnetic field component. MARSIS (Picardi et al.), the first major planetary radar sounder, is the result of an international collaboration between NASA, the Italian Space Agency (ASI), and European Space Agency (ESA), and will arrive at Mars in early 2004 for a two-year mission. MARSIS has a frequency range between 0.1-5.5 MHz and is designed to penetrate the subsurface to a depth of a few kilometers. MARSIS primary objective is to map and characterize the subsurface geological structure of Mars, and search for subsurface liquid water reservoirs. The secondary objective of MARSIS is to study the ionosphere of Mars providing the most extensive amount of data on Martian ionosphere to date. In addition to MARSIS, a second radar sounder named SHARAD (SHallow RADar) with operation frequency of 15-25 MHz is under development. SHARAD is an Italian instrument (Seu et. al) that will fly on NASA s Mars Reconnaissance orbiter in 2005. SHARAD can also provide magnetic measurements, however, it is not expected to be as sensitive as MARSIS to magnetic field variations.

A Safaeinili↗

NASA NTRS2006

Science Planning for the NASA Mars Reconnaissance Orbiter Mission

The Mars Reconnaissance Orbiter (MRO), launched on August 12, 2005, carries six science instruments, each with unique requirements for repetitive global monitoring, regional or global survey mapping, and/or targeted observations of Mars. Some prefer nadir-only observations, while other instruments require many off-nadir observations (especially for stereo viewing). Because the operations requirements are often incompatible, an interactive science planning process has been developed. This process is more complex than in some recent NASA Mars missions, but less complex (and more repetitive) than processes used by many large planetary missions. It takes full advantage of MRO's novel onboard processing capabilities, and uses simple electronic interactions between geographically distributed teams. This paper describes the process used during MRO's Primary Science Phase (PSP) to plan both interactive and non-interactive observations of Mars, and what has already been learned in the tests and rehearsals preparing for PSP.

planning↗

NASA NTRS2012

Geochemistry at 4 Vesta: Observations Using Fast Neutrons

Dawn is currently in orbit around the asteroid 4 Vesta, and one of the major objectives of the mission is to probe the relationship of Vesta to the Howardite, Eucrite, and Diogenite (HED) meteorites. As Vesta is an example of a differentiated planetary embryo, Dawn will also provide fundamental information about planetary evolution in the early solar system [1]. To help accomplish this overall goal, the Dawn spacecraft carries the Gamma-Ray and Neutron Detector (GRaND). GRaND uses planetary gamma-ray and neutron spectroscopy to measure the surface elemental composition of Vesta and will provide information that is unique and complementary to that provided by the other Dawn instruments and investigations. Gamma-ray and neutron spectroscopy is a standard technique for measuring planetary compositions [2], having successfully made measurements at near-Earth asteroids, the Moon, Mars, Mercury and now Vesta. GRaND has made the first measurements of the neutron spectrum from any asteroid (previous asteroid measurements were only made with gamma-rays). Dawn has been collecting data at Vesta since July 2011. The prime data collection period for GRaND is the Low-Altitude Mapping Orbit (LAMO), which started on 12 December 2011 and will last through spring 2012. During LAMO, the Dawn spacecraft orbits at an average altitude of ~210 km above the surface of Vesta, which allows good neutron and gamma-ray signals to be detected from Vesta. A description of the overall goals of GRaND and a summary of the initial findings are given elsewhere [3,4]. The subject of this study is to present the information that will be returned from GRaND using fast neutron measurements. Here, we discuss what fast neutrons can reveal about Vesta s surface composition, how such data can address Dawn science goals, and describe fast neutron measurements made in the early portion of the Vesta LAMO phase.

Lawrence, David J.↗

NASA NTRS2014

Solar and Drag Sail Propulsion: From Theory to Mission Implementation

Solar and drag sail technology is entering the mainstream for space propulsion applications within NASA and around the world. Solar sails derive propulsion by reflecting sunlight from a large, mirror- like sail made of a lightweight, reflective material. The continuous sunlight pressure provides efficient primary propulsion, without the expenditure of propellant or any other consumable, allowing for very high V maneuvers and long-duration deep space exploration. Drag sails increase the aerodynamic drag on Low Earth Orbit (LEO) spacecraft, providing a lightweight and relatively inexpensive approach for end-of-life deorbit and reentry. Since NASA began investing in the technology in the late 1990's, significant progress has been made toward their demonstration and implementation in space. NASA's Marshall Space Flight Center (MSFC) managed the development and testing of two different 20-m solar sail systems and rigorously tested them under simulated space conditions in the Glenn Research Center's Space Power Facility at Plum Brook Station, Ohio. One of these systems, developed by L'Garde, Inc., is planned for flight in 2015. Called Sunjammer, the 38m sailcraft will unfurl in deep space and demonstrate solar sail propulsion and navigation as it flies to Earth-Sun L1. In the Flight Center (MSFC) managed the development and testing of two different 20-m solar sail systems and rigorously tested them under simulated space conditions in the Glenn Research Center's Space Power Facility at Plum Brook Station, Ohio. One of these systems, developed by L'Garde, Inc., is planned for flight in 2015. Called Sunjammer, the 38m sailcraft will unfurl in deep space and demonstrate solar sail propulsion and navigation as it flies to Earth-Sun L1. In the interim, NASA MSFC funded the NanoSail-D, a subscale drag sail system designed for small spacecraft applications. The NanoSail-D flew aboard the Fast Affordable Science and Technology SATellite (FASTSAT) in 2010, also developed by MSFC, and began its mission after it was ejected from the FASTSAT into Earth orbit, where it remained for several weeks before deorbiting as planned. NASA recently selected two small satellite missions for study as part of the Advanced Exploration Systems (AES) Program, both of which will use solar sails to enable their scientific objectives. Lunar Flashlight, managed by JPL, will search for and map volatiles in permanently shadowed Lunar craters using a solar sail as a gigantic mirror to steer sunlight into the shaded craters. The Near Earth Asteroid (NEA) Scout mission will use the sail as primary propulsion allowing it to survey and image one or more NEA's of interests for possible future human exploration. Both are being studied for possible launch in 2017. The Planetary Society's privately funded LightSail-A and -B cubesat-class spacecraft are nearly complete and scheduled for launch in 2015 and 2016, respectively. MMA Design launched their DragNet deorbit system in November 2013, which will deploy from the STPSat-3 spacecraft as an end of life deorbit system. The University of Surrey is building a suite of cubesat class drag and solar sail systems that will be launched beginning in 2015. As the technology matures, solar sails will increasingly be used to enable science and exploration missions that are currently impossible or prohibitively expensive using traditional chemical and electric rockets. For example, the NASA Heliophysics Decadal Survey identifies no less than three such missions for possible flight before the mid-2020's. Solar and drag sail propulsion technology is no longer merely an interesting theoretical possibility; it has been demonstrated in space and is now a critical technology for science and solar system exploration.

Johnson, Les↗

NASA NTRS2020

PHALANX: Expendable Projectile Sensor Networks for Planetary Exploration

Technologies enabling long-term, wide-ranging measurement in hard-to-reach areas are a critical need for planetary science inquiry. Phenomena of interest include flows or variations in volatiles, gas composition or concentration, particulate density, or even simply temperature. Improved measurement of these processes enables understanding of exotic geologies and distributions or correlating indicators of trapped water or biological activity. However, such data is often needed in unsafe areas such as caves, lava tubes, or steep ravines not easily reached by current spacecraft and planetary robots. To address this capability gap, we have developed miniaturized, expendable sensors which can be ballistically lobbed from a robotic rover or static lander - or even dropped during a flyover. These projectiles can perform sensing during flight and after anchoring to terrain features. By augmenting exploration systems with these sensors, we can extend situational awareness, perform long-duration monitoring, and reduce utilization of primary mobility resources, all of which are crucial in surface missions. We call the integrated payload that includes a cold gas launcher, smart projectiles, planning software, network discovery, and science sensing: PHALANX. In this paper, we introduce the mission architecture for PHALANX and describe an exploration concept that pairs projectile sensors with a rover “mothership.” Science use cases explored include reconnaissance using ballistic cameras, volatiles detection, and building timelapse maps of temperature and illumination conditions. Strategies to autonomously coordinate constellations of deployed sensors to self-discover and localize with peer ranging (i.e. a “local GPS”) are summarized, thus providing communications infrastructure beyond-line-of-sight (BLOS) of the rover. Capabilities were demonstrated through both simulation and physical testing with a terrestrial prototype. The approach to developing a terrestrial prototype is discussed, including design of the launching mechanism, projectile optimization, micro-electronics fabrication, and sensor selection. Results from early testing and characterization of commercial-off-the-shelf (COTS) components are reported. Nodes were subjected to successful burn-in tests over 48 hours at full logging duty cycle. Integrated field tests were conducted in the Roverscape, a half-acre planetary analog environment at NASA Ames, where we tested up to 10 sensor nodes simultaneously coordinating with an exploration rover. Ranging accuracy has been demonstrated to be within +/-10cm over 20m using commodity radios when compared to high-resolution laser scanner ground truthing. Evolution of the design, including progressive miniaturization of the electronics and iterated modifications of the enclosure housing for streamlining and optimized radio performance are described. Finally, lessons learned to date, gaps toward eventual flight mission implementation, and continuing future development plans are discussed.

Dille, Michael↗