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A new approach for the robotic exploration of Mars is detailed in this paper: the use of small, ultralightweight, autonomous rotary-wing aerial platforms. Missions based on robotic rotorcraft could make excellent candidates for NASA Mars Scout program. The paper details the work to date and future planning required for the development of such 'Mars rotorcraft.'
The Sample Collection for Investigation of Mars (SCIM) mission, presently a finalist for flight as a Mars Scout, proposes to return martian atmospheric dust to Earth for mineralogical, chemical, isotopic, and other studies. The returned sample will consist of least 1000 martian dust particles =10 m in diameter plus millions of smaller particles. Here we discuss the science gained from analyzing such a sample in terrestrial laboratories. An accompanying abstract discusses the SCIM atmosphere sample return science.
This slide presentation reviews the validation of the thermal design for the Mars Scout Phoenix Payload. It includes a description of the Phoenix Mission, the science objectives, the timeline, and the flight system and payloads that were on the lander. The initial responsibility for the development and validation the thermal design was with the developers. This process lacked overall system engineering, there was a difference of thermal expertise, and the number of institutions involved complicated the interactions. The revised approach for payload thermal design validation is described.
Robotic mining could prove to be an efficient method of mining resources for extended missions on the Moon or Mars. One component of robotic mining is scouting an area for resources to be mined by other robotic systems. Writing controllers for scouting can be difficult due to the need for fault tolerance, inter-agent cooperation, and agent problem solving. Reinforcement learning could solve these problems by enabling the scouts to learn to improve their performance over time. This work is divided into two sections, with each section addressing the use of machine learning in this domain. The first contribution of this work focuses on the application of reinforcement learning to mining mission analysis. Various mission parameters were modified and control policies were learned. Then agent performance was used to assess the effect of the mission parameters on the performance of the mission. The second contribution of this work explores the potential use of reinforcement learning to learn a controller for the scouts. Through learning, these scouts would improve their ability to map their surroundings over time.
Exploration of Venus by Magellan and Pioneer Venus continues. Additionally, Galileo's Venus-earth-earth gravity assist trajectory to Jupiter has already provided targets of opportunity at Venus and at earth. Additional opportunities exist during the October 29, 1991, flyby of the asteroid Gaspra, the second earth gravity assist on December 8, 1992, and the flyby of the asteroid Ida on October 18, 1993. A fully successful mission through entry of the Jupiter atmospheric probe is anticipated in 1995/1996. The buildup of the Mars Observer spacecraft for a September 1992 launch is accelerating, and the development of the CRAF spacecraft and the orbiter for the NASA-ESA Cassini mission to Saturn is proceeding. Strategic plans to continue this ambitious program include early initiation of a phased program to detect other planetary systems; start of a program of low-cost, near-earth missions beginning with a near-earth asteroid rendezvous; continuation of moon-Mars exploration using sequentially launched single experiment Lunar Scouts and clusters of small landers to build up a Mars network of 16 stations; and finally, start of a major mission late in the century to explore Neptune and/or Pluto.
During my time at NASA, I worked with the Granular Mechanics and Regolith Organization (GMRO), better known as Swamp Works. The goal of the lab is to find ways to utilize resources found after the astronaut or robot has landed on another planet or asteroid. This concept is known as in-situ resource utilization and it is critical to long term missions such as those to Mars. During my time here I worked on the Asteroid and Lava Tube Free Flyer project (ALTFF). A lava tube, such as the one shown in figure 1, is a long tear drop shaped cavern that is produced when molten lava tunnels through the surrounding rock creating large unground pathways. Before mining for resources on Mars or on asteroids, a sampling mission must be done to scout out useful resource deposits. ALTFF's goal is to provide a low cost, autonomous scout robot that can sample the surface and return to the mother ship or lander for further processing of the samples. The vehicle will be looking for water ice in the regolith that can be processed into either potable water, hydrogen and oxygen fuel, or a binder material for 3D printing. By using a low cost craft to sample, there is much less risk to the more expensive mother ship or lander. While my main task was the construction of a simulation environment to test control code in and the construction of the asteroid free flyer prototype, there were other tasks that I performed relating to the ALTFF project.
The High Resolution Stereo Camera (HRSC) is a planetary imaging system developed by the German Aerospace Research Establishment (DLR) with the involvement of the German Space Industry under the leadership of the German Space Agency (DARA) for the Russian Mars 94 and Mars 96 missions. The same instrument, virtually unmodified, is ideal for imaging the Moon. If flown on a Lunar Scout spacecraft, the HRSC will be operated so that it will produce data suitable for generation of a global lunar geodetic net, a global stereo image data set (both data sets produced at an orbit altitude of 200 kms approximately) and high resolution stereo imagery of areas of interest to the scientific community from an orbit altitude of 100 kms (resolution is a function of orbit altitude). All data will be digital.
In the coming decade, several lander missions to Mars are planned (e.g., MESUR Pathfinder, MESUR). One of the dangers facing planners of these missions is the rough topography observed at both Viking Lander sites. Both landing sites are ubiquitously covered with meter-scale boulders. Objects of this size pose obvious threats to soft landers, especially at Mars where the distance from Earth causes prohibitive time lags between the transmission of commands and feedback from the spacecraft. An obvious solution is to scout for a 'smooth' site prior to the landing. However, the best resolutions realizable on current and future missions (i.e., Mars Observer) are on the order of several meters. Even at this scale, boulders of 1-2 meters in size are unresolvable. Additionally, the amount of time and spacecraft resources required to search even a small area of the planet are unrealistic given other mission objectives. An alternative is to determine the 'roughness' of the surface at a subpixel scale using bidirectional reflectance observations. Much larger areas of the planet can be searched, and much of the search can easily be automated. The morphology of the martian plains observed by the Viking Landers is physically simple. The surface is covered with a layer (approximately flat lying) of aeolian sediment from which numerous outcrops of bedrock and boulders protrude. This morphology, while simple, will be difficult to characterize from orbit using traditional bidirectional reflectance models for two reasons. First, modeling the surface as facets with Gaussian or exponential slope distributions is not realistic given the morphology described above. Second, the roughness parameter is an 'average' of the roughness at scales ranging from the wavelength of light being scattered to the pixel size of the observation. Thus, there is no definite scale of roughness that can be extracted from the Hapke roughness parameter. Using the concepts of geometric and boolean models developed by several workers, we have developed a model for the bidirectional reflectance of a surface morphology comparable to that observed at the Viking Lander sites.
Rovers will play a critical role in the exploration of Mars. Near-term mission plans call for long traverses over unknown terrain, robust navigation and instrument placement, and reliable operations for extended periods of time. Longer-term missions may visit multiple science sites in a single day and perform opportunistic science data collection, as well as complex scouting, construction, and maintenance tasks in preparation for an eventual human presence. The Pathfinder mission demonstrated the potential for robotic Mars exploration but at the same time indicated the need for more rover autonomy. The highly ground-intensive control with infrequent communication and high latency limited the effectiveness of the Sojourner rover. When failures occurred, Sojourner often sat idle for extended periods of time, awaiting further commands from earth. In future missions, the tasks will be more complex and extended; hence there will be even more situations where things do not go exactly as planned. Significant advances in rover autonomy are needed to cope with increasing task complexity and greater execution uncertainty. Towards this end, we have designed an on-board executive architecture that incorporates robust operation, resource utilization, and failure recovery. In addition, we have designed ground tools to produce and refine contingent schedules that take advantage of the on-board architecture's flexible execution characteristics. Together, the on-board executive and the ground tools constitute an integrated rover autonomy architecture. This work draws from our experience with the Deep Space One autonomy experiment, with enhancements to ensure robust operation in the face of the unpredictable, complex environment that the rover will encounter on Mars. The rover autonomy architecture is currently being developed and deployed on the Marsokhod rover platform at NASA Ames Research Center. The capabilities of the rover autonomy architecture to support autonomous operations will be demonstrated concretely in upcoming field tests.
This catalog collects and describes science payloads considered for future robotic and human exploration missions to the Moon and Mars. The science disciplines included are geosciences, meteorology, space physics, astronomy and astrophysics, life sciences, in-situ resource utilization, and robotic science. Science payload data is helpful for mission scientists and engineers developing reference architectures and detailed descriptions of mission organizations. One early step in advanced planning is formulating the science questions for each mission and identifying the instrumentation required to address these questions. The next critical element is to establish and quantify the supporting infrastructure required to deliver, emplace, operate, and maintain the science experiments with human crews or robots. This requires a comprehensive collection of up-to-date science payload information--hence the birth of this catalog. Divided into lunar and Mars sections, the catalog describes the physical characteristics of science instruments in terms of mass, volume, power and data requirements, mode of deployment and operation, maintenance needs, and technological readiness. It includes descriptions of science payloads for specific missions that have been studied in the last two years: the Scout Program, the Artemis Program, the First Lunar Outpost, and the Mars Exploration Program.
Aerial exploration of Mars with helicopters could provide mission capabilities that go beyond that of orbiting satellites, landed spacecraft and rovers. Helicopters allow examination of Mars at visual resolutions comparable to landers and rovers but over much longer ranges. They could access and land at designated targets in a controlled manner and could be used to carry or retrieve small payloads. Helicopters could enhance rover missions by quickly scouting out safe traverse routes or providing reconnaissance on possible science target destinations and, as standalone systems, could be used to explore areas that may not be reachable by rovers. Mars helicopters may also be considered as elements of a sample return architecture where they could be used for timely retrieval of small science samples back to a Mars ascent vehicle for return to Earth. The challenge to helicopter use on Mars is the thin carbon dioxide atmosphere with approximately 1% of the density of Earth’s atmosphere. Much like the Sojourner rover on the Pathfinder mission paved the way for the Spirit, Opportunity, Curiosity and the Mars 2020 rovers, an initial demonstration on Mars is desirable so as to inform the development of future helicopter missions. The Jet Propulsion Laboratory is leading a collaborative effort with AeroVironment Inc., and NASA centers Ames, Langley and Glenn to develop a small helicopter as a technology demonstrator. In this paper we briefly describe the results of this effort including results from controlled free-flight of a full-scale (approx 850 g) prototype flown in a test chamber under Mars conditions, the design and development of the 1800 g (not-to-exceed mass) technology demonstrator helicopter, and the operation of the helicopter.
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.
The Mars Exploration Program and constituent Mars Technology Program are described. Current, ongoing and future NASA-led missions are presented, including discussions of scientific accomplishments and objectives as well as technology validations accomplished and technological enablers for future missions. The missions summarized include (in order of actual or planned launch): Mars Global Surveyor, Mars Pathfinder, 2001 Mars Odyssey, Mars Reconnaissance Orbiter, Mars 'Smart' Lander, Mars Scouts, Mars Sample Return. Key technology areas hdiscussed include: Navigation, Entry, Descent and Landing, Science and Surface Operations, Orbital Transport and Sample Return Technologies.
We are on the threshold of a new era in robotic exploration of our solar system, one in which Cubesats and Smallsats will play an important role. As NASA’s lead center for robotic solar system exploration, JPL has a strategic interest in these new capabilities that enable scientists to expand our knowledge of how our solar system formed, how it works, and even how life originated. JPL’s two MarCO spacecraft are currently being prepared for launch along with the InSight Discovery mission in May of this year. This first pair of interplanetary Cubesats will make their way independently to Mars and provide a relay capability for the InSight lander back to Earth. Lunar Flashlight and Near Earth Asteroid Scout, two Cubesats that are currently under development, will form part of the ‘swarm’ of Cubesats escorted into lunar orbit by NASA’s EM-1 mission – the first launch of its new SLS rocket. This paper will provide an overview of these and other Cubesat and Smallsat mission developments at JPL.
Understanding the sensitivity of biomarker assays to the local physicochemical environment, and the underlying spatial distribution of the target biomarkers in 'homogeneous' environments, can increase mission science return. We have conducted four expeditions to Icelandic Mars analogue sites in which an increasingly refined battery of physicochemical measurements and biomarker assays were performed, staggered with scouting of further sites. Completed expeditions took place in 2012 (location scouting and field assay use testing), 2013 (sampling of two major sites with three assays and observational physicochemical measurements), 2015 (repeat sampling of prior sites and one new site, scouting of new sites, three assays and three instruments), and 2016 (preliminary sampling of new sites with analysis of returned samples). Target sites were geologically recent basaltic lava flows, and sample loci were arranged in hierarchically nested grids at 10 cm, 1 m, 10 m, 100 m, and >1 km order scales, subject to field constraints. Assays were intended to represent a diversity of potential biomarker types (cell counting via nucleic acid staining and fluorescence microscopy, ATP quantification via luciferase luminescence, and relative DNA quantification with simple domain-level primers) rather a specific mission science target, and were selected to reduce laboratory overhead, require limited consumables, and allow rapid turnaround. All analytical work was performed in situ or in a field laboratory within a day's travel of the field sites unless otherwise noted. We have demonstrated the feasibility of performing ATP quantification and qPCR analysis in a field-based laboratory with single-day turnaround. The ATP assay was generally robust and reliable and required minimal field equipment and training to produce a large amount of useful data. DNA was successfully extracted from all samples, but the serial-batch nature of qPCR significantly limited the number of primers (hence classifications) and replicates that could be run in a single day. Fluorescence microscopy did not prove feasible under the same constraints, primarily due to the large number of person-hours required to view, analyze, and record results from the images; however, this could be mitigated with higher-quality imaging instruments and appropriate image analysis software.
Mars Tumbleweed is a concept for an autonomous rover that would achieve mobility through use of the natural winds on Mars. The wind-blown nature of this vehicle make it an ideal platform for conducting random surveys of the surface, scouting for signs of past or present life as well as examining the potential habitability of sites for future human exploration. NASA Langley Research Center (LaRC) has been studying the dynamics, aerodynamics, and mission concepts of Tumbleweed rovers and has recently developed a prototype Mars Tumbleweed Rover for demonstrating mission concepts and science measurement techniques. This paper will provide an overview of the prototype design, instrumentation to be accommodated, preliminary test results, and plans for future development and testing of the vehicle.
Mars is a planet with a complex geologic history involving fluvial, volcanic, aeolian, atmospheric, and impact processes. Many critical questions about Mars are still heatedly debated within the scientific community and we still have much to discover. The current Mars exploration philosophy involves remote observation of the planet from orbit and intensive in situ study of a few sites on the surface. Orbital data provides a global picture while in situ investigations provide detailed knowledge at a single location. Mars Scouts are proposed to provide access to multiple locations on Mars. They address the emerging program needs of exploring the diversity of the planet globally in ways that cannot be achieved from orbit. The goal of the Scout is to find a way to investigate many locations on the surface of Mars in an affordable and efficient manner. We have only visited three locations on the surface of Mars, which have very similar characteristics. Increased numbers allows more types of locations to be investigated. The hallmarks of Scouts are numbers and access. Thus the capability of a single Scout will be limited. The science return from a single Scout will be significantly less than from a large science lander or an orbiting spacecraft. Scouts rely on their numbers to collectively provide a substantial increase in our knowledge of Mars. Scouts potentially serve two purposes in the Mars exploration architecture. First, Scouts are a science exploration tool. They provide access to places on Mars we currently can't explore because program focus, surface roughness, elevation, or latitude that we know are scientifically interesting. Scouts can react to new discoveries and evolving ideas about Mars. They can be used to test theories which until proven would not warrant the investment of a large lander. Second, Scouts enable better large scale missions by providing ground truth of remote sensing data and allowing us to "know" sites in advance before sending large landers and sample return missions. This increases the probability of success for these expensive missions both from safety and science return stand-points.
Humans have reached a limit to how much information can be collected from a purely ground-based rover exploration mission on Mars. Therefore, an airborne mission would broaden our knowledge of this planet and at the same time it would allow for a different approach to scientific research. Thus, the Mars Helicopter Scout (MHS) Project was founded. However, as this is only a technology demonstrator, its first and short-term goal is to fly in the vicinity of the Mars Rover and assess where the rover can go. This would reduce the risk of damage to the rover and allow for minimum transit times on the Martian surface. The main objective of the project is conducting small-scale hover testing of a coaxial rotor system in- and out-of-ground effect to study both rotor downwash/outwash and to examine the conditions under which dust kick-up and brownout does or does not occur under Mars-like conditions, with potential application to Mars Helicopter development. Given the exploratory nature of this project, it is limited to a proof of concept of testing techniques that may eventually be used on the full scale MHS. These future tests will help determine whether or not dust kick-up can pose a problem on the performance of the MHSs altimeter.