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Science and Technology Development for the Robotic Exploration of Mars and Ocean Worlds
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Advanced Reconnaissance Missions Needed for Human Exploration of Mars
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Multi-Mission Terrain Classifier for Safe Rover Navigation and Automated Science
We previously presented Soil Property and Object Classification (SPOC), a machine learning-based terrain classifier for Mars rovers, for automatically segmenting rover images by its surface type such as sand and bedrock. This paper presents a number of practical improvements to pave the way for potential future onboard deployment. First, we achieved 97.0% overall pixel accuracy, evaluated against the classification generated by human experts on images from Mars Science Laboratory (MSL) missions. The substantial increase in accuracy was primarily enabled by the sheer volume of data used for training; we created a new large-scale dataset of Martian terrain labels, namely AI4Mars, which contains more than 400k labels contributed by citizen scientists for 50k images taken by the Mars Exploration Rovers (MER) and Mars Science Laboratory (MSL) rover. Second, we demonstrated that SPOC can quickly adapt to a new mission landed on a previously unseen site. Specifically, we pretrained a model with MER and MSL data from the AI4Mars dataset and then adapted to the Mars 2020 Rover (M2020) by feeding a small volume of data between Sol 0 and 157; the adapted model was tested on Sol 200-203 and resulted in 84.2% overall pixel accuracy and 93.4% reliability (recall) for detecting sand, the most concerning class for rover’s traversability. Third, we found that pretraining can substantially mitigate the decline of accuracy over time. We showed that the performance of a SPOC model pretrained with the ImageNet dataset and then trained by MSL images only up to Sol 390 remains comparable to a model trained by images up to Sol 1689 on the test data after Sol 1689. Fourth, we reimplemented SPOC with a light-weight convolutional neural network (CNN), MobileNetV2, which typically runs within tens of milliseconds (ms) on mobile processors such as Qualcomm’s Snapdragon. Finally, we released the AI4Mars dataset to the public to encourage open innovation.
Moon to Mars (M2M): Exploration Atmosphere
As humans leave the bounds of Earth to explore the lunar surface and beyond, crew will don extravehicular activity (EVA) suits to learn more about these extraterrestrial environments, establish sustained presence, and perform needed upgrades and maintenance to their space vehicle and habitation systems. Spacefaring vehicle and habitation design will need to support these EVA excursions while ensuring crew health and safety. A crucial technological design advancement towards this goal is the use of a lower pressure exploration atmosphere (EA) that enables high efficiency EVA, rather than the sea level atmosphere of 14.7 psia, 21% oxygen (O 2 ) found on the International Space Station, Shuttle, and most other Russian and Chinese space vehicles and stations. Early space vehicles (Mercury through Apollo Programs) used a 5 psia, 100% O 2 environment, which eliminated the need for pre-EVA denitrogenation protocols, simplified the life support system to a single gas, and saved structural mass. For longer duration missions (Skylab), a diluent gas was added, changing the atmosphere to 5 psia, 70-74% O 2 to prevent atelectasis while remaining normoxic. As in-flight science became a top priority, Shuttle and ISS atmospheres were chosen to operate at sea level allowing for simpler ground-based study control conditions. Consequently this led to long pre-EVA denitrogenation protocols involving up to 4 hours of O 2 prebreathe because the EVA suit still operated at a low pressure of 4.3 psid. To increase operational efficiency, the Shuttle was retroactively certified to operate using 10.2 psia, 26.5% O 2 , reducing O 2 prebreathe time to 40-75 min. Current plans for M2M habitats on the Lunar surface require EVA, thus EA recommendation became 8 psia and 32% O 2 but was revised to 8.2 psia and 34% O 2 to decrease hypoxia exposure. Unfortunately, the benefits of EA in support of safe and efficient EVAs comes with the challenge of fire management in a higher-than-normal O 2 % environment. Although known for decades, the recommended forward work to address fire management has only recently begun. Current flammability tests include examining material propagation and ignition sources as well as fire mitigation processes to better understand these properties for proposed new EA environments. Fire safety, DCS risk, and mission design all contribute to the multifaceted parameters of EA. Thus while it is clear that EA is required to achieve the goals of future exploratory space missions, final specifications are still being evaluated for optimizing crew health and safety.
Use of Concept Mapping to Enhance and Update an Educational CD ROM About Mars
Last year, the Center for Mars Exploration (CMEX) at NASA Ames Research Center issued its 'Return to Mars 1997' educational CD ROM. This CD, produced under the guidance of Dr. Geoffrey Briggs, summarized the on-going exploration of Mars and consisted of six sub-topics: (1) Life on Mars?; (2) Mars, The Red Planet; (3) Human Exploration; (4) Robotic Missions; (5) Atlas and Image Processing; and (6) Links for Teachers. Although the CD contained a wealth of information, its format does not allow ready retrieval of information on a specific topic or concept. CMEX is working with Dr. Alberto Canas and colleagues at the University of West Florida to improve the CD's user interface through the use of concept mapping.
From Prime to Extended Mission: Evolution of the MER Tactical Uplink Process
To support a 90-day surface mission for two robotic rovers, the Mars Exploration Rover mission designed and implemented an intensive tactical operations process, enabling daily commanding of each rover. Using a combination of new processes, custom software tools, a Mars-time staffing schedule, and seven-day-a-week operations, the MER team was able to compress the traditional weeks-long command-turnaround for a deep space robotic mission to about 18 hours. However, there was never an intention of maintaining the pace of this process indefinitely. Even before the end of the three-month prime mission, MER operations began evolving towards greater sustainability. A combination of continued software tool development, increasing team experience, and availability of reusable sequences first reduced the mean process duration to approximately 11 hours. The number of workshifts required to perform the process dropped, and the team returned to a modified 'Earth-time' schedule. Additional process and tool adaptation eventually provided the option of planning multiple Martian days of activity within a single workshift, making 5- day-a-week operations possible. The vast majority of the science team returned to their home institutions, continuing to participate fully in the tactical operations process remotely. MER has continued to operate for over two Earth-years as many of its key personnel have moved on to other projects, the operations team and budget have shrunk, and the rovers have begun to exhibit symptoms of aging.