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The Mars Exploration Rover (MER) project, will conduct fundamentally new observations of Mars geology, including the first micro-scale study of rock samples, as well as a detailed study of surface environments for the purpose of calibrating and validating orbital remote sensing data.
A simulation of NASA Ames Research Center was developed to provide a common testbed for multiple areas of research within the Intelligent Systems Division, primarily related to verification and validation of autonomous technologies, machine learning, and digital twin systems. AmesSim corresponds a physical rover that is capable of navigation in the real-world environment; in this way, the same experiments can be run in both settings, with the same software and hardware stacks in the loop. The simulation is built in Unreal Engine 4 and uses the AirSim plugin for API convenience. Several custom modifications allow deterministic, faster-than-realtime execution, which enables consistent testing of on-line algorithms and large-scale data collection. This paper describes the architecture and capabilities of the simulation and discusses development challenge.
Topics covered include: Measurements of Ultra-Stable Oscillator (USO) Allan Deviations in Space; Gaseous Nitrogen Orifice Mass Flow Calculator; Validation of Proposed Metrics for Two-Body Abrasion Scratch Test Analysis Standards; Rover Low Gain Antenna Qualification for Deep Space Thermal Environments; Automated, Ultra-Sterile Solid Sample Handling and Analysis on a Chip; Measuring and Estimating Normalized Contrast in Infrared Flash Thermography; Spectrally and Radiometrically Stable, Wideband, Onboard Calibration Source; High-Reliability Waveguide Vacuum/Pressure Window; Methods of Fabricating Scintillators With Radioisotopes for Beta Battery Applications; Magnetic Shield for Adiabatic Demagnetization Refrigerators (ADR); CMOS-Compatible SOI MESFETS for Radiation-Hardened DC-to-DC Converters; Silicon Heat Pipe Array; Adaptive Phase Delay Generator; High-Temperature, Lightweight, Self-Healing Ceramic Composites for Aircraft Engine Applications; Treatment to Control Adhesion of Silicone-Based Elastomers; High-Temperature Adhesives for Thermally Stable Aero-Assist Technologies; Rockballer Sample Acquisition Tool; Rock Gripper for Sampling, Mobility, Anchoring, and Manipulation; Advanced Magnetic Materials Methods and Numerical Models for Fluidization in Microgravity and Hypogravity; Data Transfer for Multiple Sensor Networks Over a Broad Temperature Range; Using Combustion Synthesis to Reinforce Berms and Other Regolith Structures; Visible-Infrared Hyperspectral Image Projector; Three-Axis Attitude Estimation With a High-Bandwidth Angular Rate Sensor Change_Detection.m; AGATE: Adversarial Game Analysis for Tactical Evaluation; Ionospheric Simulation System for Satellite Observations and Global Assimilative; Modeling Experiments (ISOGAME); An Extensible, User- Modifiable Framework for Planning Activities; Mission Operations Center (MOC) - Precipitation Processing System (PPS) Interface Software System (MPISS); Automated 3D Damaged Cavity Model Builder for Lower Surface Acreage Tile on Orbiter; Mixed Linear/Square-Root Encoded Single-Slope Ramp Provides Low-Noise ADC with High Linearity for Focal Plane Arrays; RUSHMAPS: Real-Time Uploadable Spherical Harmonic Moment Analysis for Particle Spectrometers; Powered Descent Guidance with General Thrust-Pointing Constraints; X-Ray Detection and Processing Models for Spacecraft Navigation and Timing; and Extreme Ionizing-Radiation-Resistant Bacterium
Brief History of NTP: Project Rover Began in 1950s by Los Alamos Scientific Labs (now Los Alamos National Labs) and ran until 1970s Tested a series of nuclear reactor engines of varying size at Nevada Test Site (now Nevada National Security Site) Ranged in scale from 111 kN (25 klbf) to 1.1 MN (250 klbf) Included Nuclear Furnace-1 tests Demonstrated the viability and capability of a nuclear rocket engine test program One of Kennedys 4 goals during famous moon speech to Congress Nuclear Engines for Rocket Vehicle Applications (NERVA) Atomic Energy Commission and NASA joint venture started in 1964 Parallel effort to Project Rover was focused on technology demonstration Tested XE engine, a 245-kN (55-klbf) engine to demonstrate startup shutdown sequencing. Hot-hydrogen stream is passed directly through fuel elements potential for radioactive material to be eroded into gaseous fuel flow as identified in previous programs NERVA and Project Rover (1950s-70s) were able to test in open atmosphere similar to conventional rocket engine test stands today Nuclear Furance-1 tests employed a full scrubber system Increased government and environmental regulations prohibit the modern testing in open atmosphere. Since the 1960s, there has been an increasing cessation on open air testing of nuclear material Political and national security concerns further compound the regulatory environment
This work characterizes the accuracy of a 16 camera OptiTrack motion tracking system installed in NASA Glenn Research Center's Simulated Lunar Operations (SLOPE) laboratory. The position of a rigid body mounted on a motorized linear stage is compared to its position reported by the motion tracking system as it travels through the facility's 777m$^3$ capture volume of interest. Experiments show that the mean error reported by the motion tracking system for the aggregate capture volume is in-line with independent measurements collected using the motion stage. Error within regions of the capture volume exceed the mean error reported by the motion tracking system, likely due to occlusion, and suggests that additional cameras should be used to increase measurement accuracy in these regions. Overall, results show that error values reported by the motion tracking system are representative of the measurement error in a collected data set and validates the system's use for characterizing the mobility and tractive performance of robots, rovers, and other vehicles for planetary exploration.
BACKGROUND: Apollo missions used a 100% O2 cabin atmosphere which effectively eliminated the risk of decompression sickness (DCS) during extravehicular activity (EVA) on the moon. NASA’s future missions to the moon and Mars are expected to use nitrox gas mixtures of up to 34% O2, 66% N2, which will reduce flammability risk compared with Apollo, but will necessitate Oxygen prebreathe prior to EVA to reduce DCS risk to acceptable levels. Prebreathe protocols used on the space shuttle and International Space Station are validated for microgravity EVAs, but the significantly increased risk of DCS during equivalent ambulatory EVAs make these protocols inapplicable to planetary EVA. An “exploration atmosphere” of 56.5 kPa (8.2 psia), 34% O2, 66% N2 has been recommended by NASA as a compromise that balances prebreathe duration, hypoxia, and flammability risk, assuming a 29.6 kPa (4.3 psi) spacesuit. However, this atmosphere may not be used for vehicles that do not support frequent EVA, and with commercial providers and international providers expected to provide landers, pressurized rovers, habitats, and spacesuits, different combinations of vehicle and spacesuit atmospheres are possible and will each require validated prebreathe protocols. OVERVIEW: Key components of a multi-year strategic roadmap include: 1) Establish hypobaric chamber facility capable of supporting 8-person EVA prebreathe validation tests at saturation atmospheres up to 36% O2; 2) validate an EVA physical workload simulation for use during prebreathe validation testing; 3) validate the recommended “exploration atmosphere” prebreathe protocol; 4) validate prebreathe protocols for additional atmospheric combinations that bound the most likely potential operating ranges of future vehicles and spacesuits; and 5) update DCS risk estimation models based on results of prebreathe validation studies. DISCUSSION: Details and data from completion of the first two steps of the strategic roadmap will be presented; the third step is currently underway, with pilot results provided in a companion presentation. Steps four and five will require a multi-year series of chamber tests; collaborations are being pursued.
A system consisting of a set of estimators and autonomous behaviors has been developed which allows robust coring from a low-mass rover platform, while accommodating for moderate rover slip. A redundant set of sensors, including a force-torque sensor, visual odometry, and accelerometers are used to monitor discrete critical and operational modes, as well as to estimate continuous drill parameters during the coring process. A set of critical failure modes pertinent to shallow coring from a mobile platform is defined, and autonomous behaviors associated with each critical mode are used to maintain nominal coring conditions. Autonomous shallow coring is demonstrated from a low-mass rover using a rotary-percussive coring tool mounted on a 5 degree-of-freedom (DOF) arm. A new architecture of using an arm-stabilized, rotary percussive tool with the robotic arm used to provide the drill z-axis linear feed is validated. Particular attention to hole start using this architecture is addressed. An end-to-end coring sequence is demonstrated, where the rover autonomously detects and then recovers from a series of slip events that exceeded 9 cm total displacement.
We introduce the concept of Runtime Verification with State Estimation and show how this concept can be applied to estimate theprobability that a temporal property is satisfied by a run of a program when monitoring overhead is reduced by sampling. In such situations, there may be gaps in the observed program executions, thus making accurate estimation challenging. To deal with the effects of sampling on runtime verification, we view event sequences as observation sequences of a Hidden Markov Model (HMM), use an HMM model of the monitored program to "fill in" sampling-induced gaps in observation sequences, and extend the classic forward algorithm for HMM state estimation (which determines the probability of a state sequence, given an observation sequence) to compute the probability that the property is satisfied by an execution of the program. To validate our approach, we present a case study based on the mission software for a Mars rover. The results of our case study demonstrate high prediction accuracy for the probabilities computed by our algorithm. They also show that our technique is much more accurate than simply evaluating the temporal property on the given observation sequences, ignoring the gaps.
Autonomous cooperative robotic systems are the future of space exploration. The complexity of such systems makes their development, verification and assurance challenging. The Robust Software Engineering group at NASA Ames has developed the Troupe project that aims to explore the design and development of a swarm of autonomous rovers tasked to perform autonomous exploration and mapping of an unknown terrain. In this paper, we showcase the system design, and accompanying verification and validation tools integrated in the Troupe system development life-cycle.
This paper discusses how system validation challenges influenced the design of the EDL architecture and highlights how some of the remaining challenges will be addressed to assure a successful landing of this unprecedented rover on Mars.
The next stage of Mars exploration will include the use of rovers to seek out specific mineralogies. Understanding the mineralogical diversity of the locale will be used to determining which targets should be investigated with the full suite of in situ capability on the rover. Visible to Short Wavelength Infrared (VSWIR) spectroscopy is critical in evaluating the mineralogical diversity and to validate the global remote sensing data sets to be collected by Mars Express and the Mars Reconnaissance Orbiter. However, spectroscopy on mobile platforms present challenges in both the design of instruments and in the efficient operation of the instrument and mission. Field-testing and validation on Earth can be used to develop instrument requirements analysis tools needed for used on Mars.
This paper presents an in-depth performance analysis and validation of a correlation based stereo vision system being used as part of the ongoing 2003 Mars Exploration Rover flight mission.
The AES Modular Power Systems (AMPS) Fuel Cell team at the NASA Glenn Research Center (GRC) has created a Microsoft Excel model of a regenerative fuel cell (RFC) system for potential lunar and Martian applications. Due to some limitations of this model, including the ability to predict transient effects in the thermal and fluidic performance of the system, a system-level transient thermal/fluids model was desired. GT-SUITE is a transient multi-physics simulation tool that is popular in the automotive industry and has a built in template for proton exchange membrane (PEM) fuel cells. However, terrestrial fuel cells used in the automotive industry vary significantly from aerospace fuel cells. A validation effort was undertaken to compare GT SUITE model results to actual data collected during the 2015 AMPS Power Module Demonstration in which the AMPS team used a PEM fuel cell system to power a 478 kg rover assembly at the Dunes test site located at GRC. The purpose of the model was to evaluate the efficacy of using GT SUITE to model a non-flow through PEM fuel cell system. The validation effort examined electrochemical performance including fuel cell stack voltage and power supplied, the thermal performance of the stack namely stack temperature and heat rejection rates, and the fluidic performance of the system including pressures, reactant consumption, and water production rates.
The Scanning Habitable Environments with Raman and Luminescence for Organics and Chemistry (SHERLOC) is an instrument onboard the Mars 2020 Perseverance rover. It consists of a spectrometer that measures deep ultraviolet (DUV) resonance Raman and native fluorescence photons generated through surface interactions with a 248.6 nm pulsed laser. Two microscopic imagers, the Autofocus Context Imager (ACI) and the Wide-Angle Topographic Sensor for Operations and eNgineering (WATSON), provide high-resolution context images of SHERLOC targets. The ACI is co-boresighted with the spectrometer. To ensure proper calibration, the SHERLOC calibration target (SCT) is mounted on the front of the rover and consists of ten different materials. The SCT was designed, fabricated, assembled, and tested by Jacobs Technology, Inc., and NASA Johnson Space Center. The dimensions of the calibration target housing are 150 x 89 x 33 mm and it weighs ~437 g. The ten targets are arranged in two rows; the first six are hard targets (AlGaN for Raman and fluorescence, diffuse transmission target, a slice of the SaU008 Mars meteorite, an intensity maze, and polycarbonate over geocache coin) and the remaining four are soft-goods targets (Vectran, Ortho-Fabric, Teflon, and nGimat-coated Teflon). The hard targets calibrate the spectrometer’s Raman and fluorescence spectral accuracy, ambient light reflection, and Raman response curve, while the soft-goods targets are spacesuit materials that function as human exploration targets, some of which are also used for spectral calibration. SHERLOC also has an internal calibration target consisting of AlGaN on sapphire (275 nm) located inside the ACI opaque dust cover to ensure proper instrument functioning between calibration target analyses. Initial SHERLOC, ACI, and WATSON calibration and validation on Mars was performed using the internal calibration target on sols 59, 83, 98, and 141; WATSON imaging of the SCT on sols 26 and 62, and SHERLOC spectroscopy and ACI imaging of the SCT on sol 59. These early data provide initial insights into instrument performance and the stability and degradation of the calibration target materials relative to the Martian surface and dust environment. Early observations also have implications for future astronaut spacesuit materials.
The AES Modular Power Systems (AMPS) Fuel Cell team at the NASA Glenn Research Center (GRC) has created a Microsoft Excel model of a regenerative fuel cell (RFC) system for potential lunar and Martian applications. Due to some limitations of this model, including the ability to predict transient effects in the thermal and fluidic performance of the system, a system-level transient thermal/fluids model was desired. GT-SUITE is a transient multi-physics simulation tool that is popular in the automotive industry and has a built-in template for proton exchange membrane (PEM) fuel cells. However, terrestrial fuel cells used in the automotive industry vary significantly from aerospace fuel cells. A validation effort was undertaken to compare GT SUITE model results to actual data collected during the 2015 AMPS (Advanced Exploration Systems (AES) Modular Power Systems) Power Module Demonstration in which the AMPS team used a PEM fuel cell system to power a 478 kilogram rover assembly at the Dunes test site located at GRC. The purpose of the model was to evaluate the efficacy of using GT SUITE to model a non-flow through PEM fuel cell system. The validation effort examined electrochemical performance including fuel cell stack voltage and power supplied, the thermal performance of the stack namely stack temperature and heat rejection rates, and the fluidic performance of the system including pressures, reactant consumption, and water production rates.
The development of the Sampling and Caching Subsystem (SCS) on the JPL Perseverance Rover lies at the intersection of testing, robotics, and geology. The SCS team established three primary system test campaigns and venues to aid in the development of SCS through verification and validation testing – Qualification Model Dirty Testing (QMDT) to provide a venue for testing in a Martian environment, Vehicle System Testbed (VSTB) for testing while integrated with the mobility subsystem on Martian-like terrain, and the Flight Software Testbed (FSWTB) for conducting tests using the flight motor controllers and software system on a hexapod which had the ability to simulate rover tilt. Each venue contributed a vital piece to the SCS building blocks. However, the QMDT venue operating within a 10-ft diameter Thermal Vacuum chamber to simulate Martian environment provided a sui generis opportunity to fine tune the entire sampling and caching process while building the team’s knowledge base about rock drillability, system life, and target selection. On Earth, because Martian rocks are not readily available, the development team must utilize geoanalogs to the rocks and regolith on Mars. Geologists on the team helped establish a set of standard rock types to use for Mars missions, like Basalt, Sandstone, Mudstone, Gypsum, and other related geoanalogs. These geoanalogs are characterized with a standard suite of tests for density, compressibility, and other characteristics to categorize potential drillability. This concept of drillability is what links the geoanalogs on Earth to the samples we collect on Mars. With the simulant characteristics defined, these geoanalog rocks are ready to be drilled into as we do on the Martian surface. A key aspect of interacting with the surface on Mars is rock target identification and selection. The Perseverance robotic system uses the on-board cameras, instrumentation, and software to collect enough information to identify potential scientific targets. With the targets identified, SCS can place the Corer and abrade the surface or collect a sample. For a ground test activity like QMDT, the test team did not have all of the camera and instrumentation systems that the rover does, so the team developed ground test equivalents to process a rock, build a target map, and define the target. The team constructed a Rock Scanning Station to build a 3D point cloud of the rock. This point cloud was then processed and evaluated with predefined and programmed criteria in a Target Downselect Tool. A primary output of the Target Downselect Tool is a defined target that can be uploaded directly to the robotic software system to simulate and build the robotic sequences used in tests. With these insights and programmatic definition of targets, the QMDT test team was able to make the same decisions that the Perseverance surface operations team does. In addition, valuable lessons learned from developing the target selection ground tools and using them were implemented into the tools used for surface operations.
The use of terrestrial analog sites is an essential component of the development process for systems that are planned for lunar and planetary surfaces. These sites can also be valuable for training personnel who are expected to operate those systems. The fact that the site is an integral element, capable of influencing data and impacting test results, must not be overlooked. For tests performed in analog environments to be truly valid it is essential that the relevant characteristics of the employed sites be thoroughly understood. It is also critical that a comparative evaluation be made to assess the similarity of the analog sites to target planetary sites. Examples of relevant characteristics include terrain, soil properties, meteorology, geologic features, biological history, and remoteness. The importance of each of the characteristics varies with the type of extraterrestrial activity to be conducted. As a result, a site that is ideal for one purpose may be totally inadequate for another. It may also be appropriate to utilize multiple sites of increasing fidelity as the development process evolves. For example, early in the development process, the use of lower-fidelity sites may be elected - especially if they are available for a lower cost. Later, it may be necessary to employ higher-fidelity sites to capture greater realism, even if there is an associated increased cost. Finally, when interpreting the results of field tests, it is necessary to understand the sensitivity of the results to the relevant conditions. Knowledge of characteristics and sensitivity of results is particularly important when using field test results to validate analytical model predictions. This is especially true for activities that involve physical interaction with the site. Examples would include tests of rovers or other vehicles and associated trafficability modeling, spacesuit mobility tests, and tests associated with system deployment operations.
Automation is gaining momentum in spacecraft operations, however, at a much slower pace than comparable application domains. The reasons behind slow adoption is (1) the need for high reliability and (2) the limited interaction between human operators and the automated systems. For automated systems to be adopted and trusted by humans, humans need to gain intuition about the decision making process of the automated system and trust in its execution [1]. In this paper, we present how simulation and visualization can enhance adoption of an automated on-board activity scheduling system, specifically in the context of Mars2020 rover mission[2]. The visualization aims to communicate to the users degree of variance and uncertainty in possible schedule execution. Our preliminary validation results suggest that the proposed visualization increases operators’ confidence in—and likelihood of adopting—the automated scheduling system.