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NASA NTRS2013

In-Situ Operations and Planning for the Mars Science Laboratory Robotic Arm: The First 200 Sols

The Robotic Arm (RA) has operated for more than 200 Martian solar days (or sols) since the Mars Science Laboratory rover touched down in Gale Crater on August 5, 2012. During the first seven months on Mars the robotic arm has performed multiple contact science sols including the positioning of the Alpha Particle X-Ray Spectrometer (APXS) and/or Mars Hand Lens Imager (MAHLI) with respect to rocks or loose regolith targets. The RA has supported sample acquisition using both the scoop and drill, sample processing with CHIMRA (Collection and Handling for In- Situ Martian Rock Analysis), and delivery of sample portions to the observation tray, and the SAM (Sample Analysis at Mars) and CHEMIN (Chemistry and Mineralogy) science instruments. This paper describes the planning and execution of robotic arm activities during surface operations, and reviews robotic arm performance results from Mars to date.

Mars surface operations↗

NASA NTRS1999

Mission Design Overview for Mars Sample Return

In May 2003, a new and exciting chapter in Mars exploration will begin with a launch that will ultimately lead to the delivery of samples from the Red Planet to Earth.

Mars Mission Design Mars 2003 Mars 2005↗

NASA NTRS2014

Development of an Autonomous, Dual Chamber Bioreactor for the Growth of 3-Dimensional Epithelial-Stromal Tissues in Microgravity

We are developing a novel, autonomous bioreactor that can provide for the growth and maintenance in microgravity of 3‐D organotypic epithelial‐stromal cultures that require an air‐liquid interface. These complex 3‐D tissue models accurately represent the morphological features, differentiation markers, and growth characteristics observed in normal human epithelial tissues, including the skin, esophagus, lung, breast, pancreas, and colon. However, because of their precise and complex culture requirements, including that of an air‐liquid interface, these 3‐D models have yet to be utilized for life sciences research aboard the International Space Station. The development of a bioreactor for these cultures will provide the capability to perform biological research on the ISS using these realistic, tissue‐like human epithelial‐stromal cell models and will contribute significantly to advances in fundamental space biology research on questions regarding microgravity effects on normal tissue development, aging, cancer, and other disease processes. It will also allow for the study of how combined stressors, such as microgravity with radiation and nutritional deficiencies, affect multiple biological processes and will provide a platform for conducting countermeasure investigations on the ISS without the use of animal models. The technology will be autonomous and consist of a cell culture chamber that provides for air‐liquid, liquid‐liquid, and liquid‐air exchanges within the chambers while maintaining the growth and development of the biological samples. The bioreactor will support multiple tissue types and its modular design will provide for incorporation of add‐on capabilities such as microfluidics drug delivery, media sampling, and in situ biomarker analysis. Preliminary flight testing of the hardware will be conducted on a parabolic platform through NASA's Flight Opportunities Program.

Patel, Zarana S.↗

DOE OSTI2023

Sputter sample preparation for ion beam delivery of radium-223 at ATLAS

A radium-223 ion beam was delivered to an experiment from the electron cyclotron resonance ion source, ECR2, at the Argonne Tandem Linac Accelerator System (ATLAS). Here, the radium-223 material was in a nitrate salt form within a vial, prior to being converted to a usable sputter sample. The sputter sample was produced using a new sample preparation method, where the radium nitrate was dissolved into a solution and pipetted onto pressed aluminum powder. This sample was then allowed to dry, distributing the radium-223 material throughout the sputter sample. Ion source operation using the radium sputter sample is described with the operating parameters listed. The intensity and energy requirements for this ion beam were 1 × 10 6 particles/s and 1.07 GeV, respectively. Because the intensity is relatively low compared to most experiments at ATLAS, previously developed accelerator mass spectrometry methods were used Scott et al. to avoid the need for tuning of the low-intensity beam of interest. Handling of the radium material, as well as loading and unloading of the sputter sample from ECR2, required collaboration with Health Physics. Procedures were used and dry runs were carried out before, during, and after the experiment to ensure the safety of the workers. The processes used and lessons learned are described within.

07 ISOTOPE AND RADIATION SOURCES↗

NASA NTRS1994

Collection requirements for trace-element analyses of extraterrestrial samples

Trace-element abundances have proven important in understanding the evolution of and interrelationships between different meteorites. Preliminary investigations of the trace-element contents of interplanetary dust particles indicate that trace-element abundances will prove equally important in distinguishing between micrometeorites of different types, comparing the interplanetary dust to the meteorites, and assessing the degree of thermal alteration experienced either on the parent body or during the collection process. Sample collection, delivery, and curation must be accomplished in a manner to avoid contamination with even trace amounts of the elements to be analyzed. The present SXRF sensitivity for micrometeorite analysis is of order 1 femtogram, but anticipated improvements in sensitivity will require sample contamination substantially below this level. Sample collection and handling equipment should be constructed from materials selected for ultrahigh purity, and serious consideration should be given in selecting the particular set of elements from which the collection apparatus is composed so as not to compromise useful information.

Flynn, George J.↗

NASA NTRS2009

Modeling and Testing of Phase Transition-Based Deployable Systems for Small Body Sample Capture

This paper summarizes the modeling, simulation, and testing work related to the development of technology to investigate the potential that shape memory actuation has to provide mechanically simple and affordable solutions for delivering assets to a surface and for sample capture and return. We investigate the structural dynamics and controllability aspects of an adaptive beam carrying an end-effector which, by changing equilibrium phases is able to actively decouple the end-effector dynamics from the spacecraft dynamics during the surface contact phase. Asset delivery and sample capture and return are at the heart of several emerging potential missions to small bodies, such as asteroids and comets, and to the surface of large bodies, such as Titan.

flexible appendage↗

NASA NTRS2009

Investigation of Phase Transition-Based Tethered Systems for Small Body Sample Capture

This paper summarizes the modeling, simulation, and testing work related to the development of technology to investigate the potential that shape memory actuation has to provide mechanically simple and affordable solutions for delivering assets to a surface and for sample capture and possible return to Earth. We investigate the structural dynamics and controllability aspects of an adaptive beam carrying an end-effector which, by changing equilibrium phases is able to actively decouple the end-effector dynamics from the spacecraft dynamics during the surface contact phase. Asset delivery and sample capture and return are at the heart of several emerging potential missions to small bodies, such as asteroids and comets, and to the surface of large bodies, such as Titan.

deployable systems↗

DOE OSTI2021

Integrated sample-handling and mounting system for fixed-target serial synchrotron crystallography

Serial synchrotron crystallography (SSX) is enabling the efficient use of small crystals for structure–function studies of biomolecules and for drug discovery. An integrated SSX system has been developed comprising ultralow background-scatter sample holders suitable for room and cryogenic temperature crystallographic data collection, a sample-loading station and a humid `gloveless' glovebox. The sample holders incorporate thin-film supports with a variety of designs optimized for different crystal-loading challenges. These holders facilitate the dispersion of crystals and the removal of excess liquid, can be cooled at extremely high rates, generate little background scatter, allow data collection over >90° of oscillation without obstruction or the risk of generating saturating Bragg peaks, are compatible with existing infrastructure for high-throughput cryocrystallography and are reusable. The sample-loading station allows sample preparation and loading onto the support film, the application of time-varying suction for optimal removal of excess liquid, crystal repositioning and cryoprotection, and the application of sealing films for room-temperature data collection, all in a controlled-humidity environment. The humid glovebox allows microscope observation of the sample-loading station and crystallization trays while maintaining near-saturating humidities that further minimize the risks of sample dehydration and damage, and maximize working times. This integrated system addresses common problems in obtaining properly dispersed, properly hydrated and isomorphous microcrystals for fixed-orientation and oscillation data collection. Its ease of use, flexibility and optimized performance make it attractive not just for SSX but also for single-crystal and few-crystal data collection. Fundamental concepts that are important in achieving desired crystal distributions on a sample holder via time-varying suction-induced liquid flows are also discussed.

47 OTHER INSTRUMENTATION↗

NASA NTRS2019

Cold Survivable Distributed Motor Controller (CSDMC)

This paper presents the results of NASA’s COLDTECH development entitled “Cold Survivable Distributed Motor Controller (CSDMC)”. This work addresses the need to lower the mass, power and volume of the motor control electronics and its associated cabling. Landed payload mass of ocean world missions typically requires a spacecraft launch mass of 7-10x the landed mass due to the required propellant to get the payload to the surface. Reduction of landed mass leads to cheaper, more frequent missions and/or increased science return. This work addresses this need by developing a distributed electronics architecture, which places control and power electronics near or at actuators and instruments. The outcome of this effort will result in a 10X reduction in harness mass, enabling a significant increase in science payload which then enables more capable sample acquisition, delivery and analysis systems on these missions. Placing the control and power conversion electronics at or near the actuators or instruments is the cornerstone of our distributed architecture. To do this, we developed the technology necessary to distribute the electronics and place them on a shared interface and power bus. This enables a significant reduction in cable mass along with its associated complexity. This allows spacecraft designers to take advantage of volume at the extremities that would normally not be utilized. In this paper we discuss the technologies and system design to achieve these goals in support of ocean world missions. These technologies include the development of our motor control modules, a point of load regulator and isolated converter modules along with the packaging technology necessary to allow our electronics to survive the extreme temperatures.

Stell, Chris↗

NASA NTRS2018

Introduction to Tools and Techniques for Surface Sampling on Europa

The NASA Jet Propulsion Laboratory (JPL) is studying excavation and collection of a sample from an icy surface for a potential landed mission to Europa. Europa presents unique challenges in planetary sampling. Very little is known about the local topography and material composition of the surface. The environmental conditions of being cryogenically cold (80-130K), low gravity (~1/7th Earth), no atmosphere, low lighting conditions, and limited ground in the loop opportunities have forced JPL to look at sampling differently than past missions. Interacting with the surface of the Jovian moon requires a sampling system that is robust to local topography on the scale of the lander and/or the tool. In addition, the sampling system must be capable both of detecting faults and automatically adjusting to them to achieve the mission objectives without ground in the loop feedback. Presented here is an overview of a sampling system concept that involves a two-stage approach for collecting a sample. The first stage uses an excavation tool to prepare the surface site for sample collection by removing the top layer of irradiated material and clearing tailings from the hole. The second stage then generates and collects a sample for delivery to instruments on-board a lander. Also presented is an introduction for how autonomy and sensing technologies might be employed to enable mission success.

Tevere, Erica L.↗

NASA NTRS2002

Method and apparatus for chemical and topographical microanalysis

A scanning probe microscope is combined with a laser induced breakdown spectrometer to provide spatially resolved chemical analysis of the surface correlated with the surface topography. Topographical analysis is achieved by scanning a sharp probe across the sample at constant distance from the surface. Chemical analysis is achieved by the means of laser induced breakdown spectroscopy by delivering pulsed laser radiation to the sample surface through the same sharp probe, and consequent collection and analysis of emission spectra from plasma generated on the sample by the laser radiation. The method comprises performing microtopographical analysis of the sample with a scanning probe, selecting a scanned topological site on the sample, generating a plasma plume at the selected scanned topological site, and measuring a spectrum of optical emission from the plasma at the selected scanned topological site. The apparatus comprises a scanning probe, a pulsed laser optically coupled to the probe, an optical spectrometer, and a controller coupled to the scanner, laser and spectrometer for controlling the operation of the scanner, laser and spectrometer. The probe and scanner are used for topographical profiling the sample. The probe is also used for laser radiation delivery to the sample for generating a plasma plume from the sample. Optical emission from the plasma plume is collected and delivered to the optical spectrometer so that analysis of emission spectrum by the optical spectrometer allows for identification of chemical composition of the sample at user selected sites.

Kossakovski, Dmitri A.↗

NASA NTRS2004

Robotic Subsurface Analyzer and Sample Handler for Resource Reconnaissance and Preliminary Site Assessment for ISRU Activities at the Lunar Cold Traps

Since the 1960s, claims have been made that water ice deposits should exist in permanently shadowed craters near both lunar poles. Recent interpretations of data from the Lunar Prospector-Neutron Spectrometer (LP- NS) confirm that significant concentrations of hydrogen exist, probably in the form of water ice, in the permanently shadowed polar cold traps. Yet, due to the large spatial resolution (45-60 Ian) of the LP-NS measurements relative to these shadowed craters (approx.5-25 km), these data offer little certainty regarding the precise location, form or distribution of these deposits. Even less is known about how such deposits of water ice might effect lunar regolith physical properties relevant to mining, excavation, water extraction and construction. These uncertainties will need to be addressed in order to validate fundamental lunar In Situ Resource Utilization (ISRU) precepts by 2011. Given the importance of the in situ utilization of water and other resources to the future of space exploration a need arises for the advanced deployment of a robotic and reconfigurable system for physical properties and resource reconnaissance. Based on a collection of high-TRL. designs, the Subsurface Analyzer and Sample Handler (SASH) addresses these needs, particularly determining the location and form of water ice and the physical properties of regolith. SASH would be capable of: (1) subsurface access via drilling, on the order of 3-10 meters into both competent targets (ice, rock) and regolith, (2) down-hole analysis through drill string embedded instrumentation and sensors (Neutron Spectrometer and Microscopic Imager), enabling water ice identification and physical properties measurements; (3) core and unconsolidated sample acquisition from rock and regolith; (4) sample handling and processing, with minimized contamination, sample containerization and delivery to a modular instrument payload. This system would be designed with three mission enabling goals, including: (1) a self-contained, low power, low mass, "black box'' configuration for operations from a lander, various classes of rovers or a surface-based platform with human assistance or robotic anchoring mechanisms; (2) reconfigurable and scalable sample handling for delivery to various types of instrumentation, depending on mission requirements; and (3) the use of advanced automation control and diagnostic techniques that will afford local human deployed, remote teleoperation and fully autonomous intelligent operations. Though a great deal of technology has been advanced toward these objectives, the SASH system faces significant design challenges, including the low gravity environment, various levels of autonomy in operations, radiation exposure, dust contamination, and temperature extremes and deltas. Significant input from the scientific and engineering communities, as well as a significant environmental testing program, will be required to guide the design process.

Gorevan, S. P.↗

NASA NTRS2022

Sample Materials Considerations for Curating and Processing Pristine MSR Samples

The perseverance rover is collecting and caching samples of Mars as part of the Mars 2020 mission, which represents the first leg of a multi-mission Mars Sample Return Campaign. The MSR Campaign is an international partnership that will result in delivery of the first martian samples to Earth that were not delivered through meteoritic infall. All meteorites, regardless of how they were handled from recovery to curation, have experienced uncontrolled entry and exposure to the terrestrial environment. Whilst meteorite deliveries are serendipitous, they are also unplanned events that require reactionary responses for recovery and curation. However, with the direct return of pristine astromaterials from another body, we are afforded the ability to design a facility in advance of sample delivery to keep those samples in a pristine (i.e., as returned) state for an indefinite period of time. Given that the curation and processing infrastructure needs to be made out of something, it is important to choose materials for the pristine curation environment that will optimize between the need to effectively process samples and the need to minimize contamination of the samples. The Johnson Space Center (JSC) has an optimized list of materials that have been used in previous sample return missions that includes 304/316 Stainless Steel, Teflon, and T6061 Aluminum (1). This set of materials are compatible with inorganic, organic, and biological cleanliness requirements and protocols. Furthermore, only these materials are permitted to come in contact with pristine samples. We note that JSC uses Neoprene and Hypalon for the gloves on their gloveboxes, but the glove material never comes in direct contact with the samples, only the approved materials. The MSR sample tubes will be made of Ti, so Ti may be an acceptable material for making tools, but the minor and trace element abundances of 304 and 316 stainless steel are well known and do not inhibit scientific investigations of metals, including HSE (2). More work is needed to determine whether the same is true for Ti alloys. In addition to defining the materials in the pristine environment, one must also choose whether the pristine environment will be under vacuum or under a specific atmospheric composition and pressure. Although JAXA has successfully implemented pristine curation vacuum chambers for their Hayabusa and Hayabusa2 samples (3), a vacuum environment is not appropriate for martian samples because it may drive deliquescence of mineral phases in the samples that are sensitive to pressure and relative humidity (4). Consequently, the pristine environment for the martian samples should be under an inert gas. It will be crucial to minimize the number of gases that come into direct contact with samples and these gases will need to be high purity and consistent throughout the pristine isolators. Samples at JSC are stored under high purity gaseous nitrogen (1). Dry N2 gas has not been a problem for N isotope studies for high-T release phases, but an additional inert atmosphere like Ar may be needed for samples where there is a particular concern about low-T release of N from bulk sample analysis. References: (1) McCubbin FM, et al. (2019) Space Science Reviews, 215, 1-81. (2) Day JMD, et al. (2018) Meteorit. Planet. Sci. 53:1283-1291. (3) Yada, T., et al., (2014). Meteorit. Planet. Sci. 49, 135-153. (4) Tosca NJ, et al. (2021). Astrobiology, in press, doi:10.1089/ast.2021.0115.

F M McCubbin↗

NASA NTRS1989

The 'sample experiment' on the Mars Rover/Sample Return mission

Sample Experiment denotes the set of all operations that include collection, analysis, packaging, and environmental control of atmospheric and geologic samples of Mars. Various functions may be distributed among surface roving vehicles, stationary landers, and spacecraft but the Sample Experiment remains an integrated mission activity that extends from Mars landing through delivery of the sample payload to the recieving facility on Earth. Technological challenges not faced in previous planetary missions include development of robotic systems to manipulate and characterize samples and to reliably seal them in containers with minimal contamination or degradation.

Gooding, James L.↗

DOE OSTI2024

Advanced manufacturing provides tailor-made solutions for crystallography with x-ray free-electron lasers

Serial crystallography at large facilities, such as x-ray free-electron lasers and synchrotrons, evolved as a powerful method for the high-resolution structural investigation of proteins that are critical for human health, thus advancing drug discovery and novel therapies. However, a critical barrier to successful serial crystallography experiments lies in the efficient handling of the protein microcrystals and solutions at microscales. Microfluidics are the obvious approach for any high-throughput, nano-to-microliter sample handling, that also requires design flexibility and rapid prototyping to deal with the variable shapes, sizes, and density of crystals. Here, we discuss recent advances in polymer 3D printing for microfluidics-based serial crystallography research and present a demonstration of emerging, large-scale, nano-3D printing approaches leading into the future of 3D sample environment and delivery device fabrication from liquid jet gas-dynamic virtual nozzles devices to fixed-target sample environment technology.

36 MATERIALS SCIENCE↗

NASA NTRS2019

Mars Sample Return Lander mission concepts

This paper will provide an overview of current concepts and options for the architecture and design of a Mars Sample Return Lander (called Sample Return Lander, SRL). Key mission objectives and the overall baseline mission design will be described, including the constraints and a notional timeline from launch to entry, through surface operations, to delivery of the samples to Mars orbit. The overall lander vehicle concepts will be described, including current options being evaluated.

Karp, Ashley↗

NASA NTRS2018

Mars Sample Return Conceptual Mission Overview

This talk will provide an overview of an overall Mars Sample Return campaign architecture, and the current concepts and options for the architecture and design of a Mars Sample Retrieval Lander (called Sample Retrieval Lander, SRL). The overall SRL mission concept and key mission objectives will be described, including the mission’s concept of operations and a notional timeline from launch to entry, through surface operations, to delivery of the samples to Mars orbit. The overall lander vehicle concept will be described, including current options being evaluated. Key lander element options will be discussed, including a Mars Ascent Vehicle (MAV), Fetch Rover, Orbiting Sample container (OS), and tube transfer robotics systems. Details of the notional Fetch Rover functions, constraints and operations will be discussed. Specific challenges and approaches for addressing those challenges will be discussed, including key technical margins and planetary protection. Major trade studies and implementation approaches and a proposed schedule will also be discussed. The information provided about possible Mars sample return architectures and concepts is for planning and discussion purposes only. NASA and ESA have made no official decisions to implement Mars Sample Return.

Beyer, Friederike↗

NASA NTRS2018

Mars Sample Return Conceptual Mission Overview

Beyer, Friederike↗