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This paper presents a general overview of the Marsokhod rover mission. The autonomous navigation for a Mars exploration rover is controlled by a vision system which has been developed on the basis of two CCD cameras, stereovision and path planning algorithms. Its performances have been tested on a Mars-like experimentation site.
Detailed opening loads data is presented for 18 tests of Disk-Gap-Band (DGB) parachutes of varying geometry with nominal diameters ranging from 43.2 to 50.1 ft. All of the test parachutes were deployed from a mortar. Six of these tests were conducted via drop testing with drop test vehicles weighing approximately 3,000 or 8,000 lb. Twelve tests were conducted in the National Full-Scale Aerodynamics Complex 80- by 120-foot wind tunnel at the NASA Ames Research Center. The purpose of these tests was to structurally qualify the parachute for the Mars Exploration Rover mission. A key requirement of all tests was that peak parachute load had to be reached at full inflation to more closely simulate the load profile encountered during operation at Mars. Peak loads measured during the tests were in the range from 12,889 to 30,027 lb. Of the two test methods, the wind tunnel tests yielded more accurate and repeatable data. Application of an apparent mass model to the opening loads data yielded insights into the nature of these loads. Although the apparent mass model could reconstruct specific tests with reasonable accuracy, the use of this model for predictive analyses was not accurate enough to set test conditions for either the drop or wind tunnel tests. A simpler empirical model was found to be suitable for predicting opening loads for the wind tunnel tests to a satisfactory level of accuracy. However, this simple empirical model is not applicable to the drop tests.
Autonomous recognition of scientifically important information provides the capability of: 1) Prioritizing data return; 2) Intelligent data compression; 3) Reactive behavior onboard robotic vehicles. Such capabilities are desirable as mission scenarios include longer durations with decreasing interaction from mission control. To address such issues, we have implemented several computer algorithms, intended to autonomously recognize morphological shapes of scientific interest within a software architecture envisioned for future rover missions. Mars Exploration Rovers (MER) instrument payloads include a Panoramic Camera (PANCAM) and Microscopic Imager (MI). These provide a unique opportunity to evaluate our algorithms when applied to data obtained from the surface of Mars. Early in the mission we applied our algorithms to images available at the mission web site (http://marsrovers.jpl.nasa.gov/gallery/images.html), even though these are not at full resolution. Some algorithms would normally use ancillary information, e.g. camera pointing and position of the sun, but these data were not readily available. The initial results of applying our algorithms to the PANCAM and MI images are encouraging. The horizon is recognized in all images containing it; such information could be used to eliminate unwanted areas from the image prior to data transmission to Earth. Additionally, several rocks were identified that represent targets for the mini-thermal emission spectrometer. Our algorithms also recognize the layers, identified by mission scientists. Such information could be used to prioritize data return or in a decision-making process regarding future rover activities. The spherules seen in MI images were also autonomously recognized. Our results indicate that reliable recognition of scientifically relevant morphologies in images is feasible.
Based on operational experience gained during the Mars Exploration Rover (MER) mission, we proposed and were selected to conduct two related imaging experiments: (1) an investigation of the geology and short-term atmospheric vertical wind profile local to the Mars Science Laboratory (MSL) landing site using descent imaging, and (2) a broadly-based scientific investigation of the MSL locale employing visible and very near infra-red imaging techniques from a pair of mast-mounted, high resolution cameras. Both instruments share a common electronics design, a design also employed for the MSL Mars Hand Lens Imager (MAHLI) [1]. The primary differences between the cameras are in the nature and number of mechanisms and specific optics tailored to each camera s requirements.
Following the successful landings of both Mars Exploration Rover (MER) vehicles at Gusev Crater and Meridiani Planum, respectively, their Athena suite of instruments is being used to study the geologic history of these two very different landing sites on Mars that had been selected on the basis of showing different types of evidence for aqueous processes in the planet s past. Utilizing the on-board instruments as well as the rovers mobility system, a wide range of physical properties investigations is carried out as well - the subject of this abstract - that provide additional information on the geology and processes at the sites. Results of the mission in general as well as of the physical properties studies thus far greatly exceed expectations in that observations and measurements by both vehicles show a rich variety in materials and processes: the Gusev site in the vicinity of the lander is remarkably flat and generally devoid of large rocks along traverses up to the time of this writing (approx.Sol 50) and suggestive of a deflated surface with generally only thin veneers of bright dust while exhibiting evidence of a widespread occurrence of a crust from cemented fines that has been observed to fail in the form of blocky clods when disturbed by vehicle rolling action; numerous small and shallow depressions - presumably created by impacts - are observed at the site which are infilled with bright, fine-grained material that likewise appears indurated and which was studied by a trenching experiment; small ripple bedforms are scattered across the site and were characterized in terms of particle size distributions. At the Meridiani site, studies so far - up to approx.Sol 33 - have focussed on soils and the rock outcrop encountered within the approx.20 m diameter crater that the spacecraft came to rest in: from a physical properties point of view, a mantle of dark, well-sorted, apparently basaltic sand with small to moderate cohesion has been of interest - and has been studied by a trenching experiment - as well as a fine-grained unit underlying the mantle at least locally within the crater. Rock grindings were accomplished successfully at both sites at the time of this writing, suggesting different strengths of the two targets (the basaltic rock nicknamed Adirondack at Gusev and the Meridiani rock outcrop) in addition to enabling compositional measurements below the original rock surfaces.
The US-based health care system of the International Space Station (ISS) contains several subsystems, the Health Maintenance System, Environmental Health System and the Countermeasure System. These systems are designed to provide primary, secondary and tertiary medical prevention strategies. The medical system deployed in Low Earth Orbit (LEO) for the ISS is designed to enable a "stabilize and transport" concept of operations. In this paradigm, an ill or injured crewmember would be rapidly evacuated to a definitive medical care facility (DMCF) on Earth, rather than being treated for a protracted period on orbit. The medical requirements of the short (7 day) and long duration (up to 6 months) exploration class missions to the Moon are similar to LEO class missions with the additional 4 to 5 days needed to transport an ill or injured crewmember to a DCMF on Earth. Mars exploration class missions are quite different in that they will significantly delay or prevent the return of an ill or injured crewmember to a DMCF. In addition the limited mass, power and volume afforded to medical care will prevent the mission designers from manifesting the entire capability of terrestrial care. NASA has identified five Levels of Care as part of its approach to medical support of future missions including the Constellation program. In order to implement an effective medical risk mitigation strategy for exploration class missions, modifications to the current suite of space medical systems may be needed, including new Crew Medical Officer training methods, treatment guidelines, diagnostic and therapeutic resources, and improved medical informatics.
Lighter-than-air planetary missions continued attract growing interest in Mars exploration due to unique combination of proximity to the surface and mobility that far surpasses capability of surface vehicles. Following the experience with the Sojourner rover and subsequent development of powerful rovers for Mars 2003 and 2005 missions it became clear that on Mars surface rover mobility is quite restricted. Realistic travel distances may be limited to tens of kilometers per year on relatively obstacle-free plains and a few kilometers or less on the more rugged terrains. Many areas on Mars will be inaccessible to rovers. Several concepts for a Mars aerobot (robotic balloon) mission have been pursued in the last decade. Additional information is contained in the original extended abstract.
Teams typically collaborate in different modes including face-to-face meetings, meetings that are synchronous (i. e. require parties to participate at the same time) but distributed geographically, and meetings involving asynchronously working on common tasks at different times. The XBoard platform was designed to create an integrated environment for creating applications that enhance collaborative work practices. Specifically, it takes large, touch-screen enabled displays as the starting point for enhancing face-to-face meetings by providing common facilities such as whiteboarding/electronic flipcharts, laptop projection, web access, screen capture and content distribution. These capabilities are built upon by making these functions inherently distributed by allowing these sessions to be easily connected between two or more systems at different locations. Finally, an information repository is integrated into the functionality to provide facilities for work practices that involve work being done at different times, such as reports that span different shifts. The Board is designed to be extendible allowing customization of both the general functionality and by adding new functionality to the core facilities by means of a plugin architecture. This, in essence, makes it a collaborative framework for extending or integrating work practices for different mission scenarios. XBoard relies heavily on standards such as Web Services and SVG, and is built using predominately Java and well-known open-source products such as Apache and Postgres. Increasingly, organizations are geographically dispersed, and rely on "virtual teams" that are assembled from a pool of various partner organizations. These organizations often have different infrastructures of applications and workflows. The XBoard has been designed to be a good partner in these situations, providing the flexibility to integrate with typical legacy applications while providing a standards-based infrastructure that is readily accepted by most organizations. The XBoard has been used on the Mars Exploration Rovers mission at JPL, and is currently being used or considered for use in pilot projects at Johnson Space Center (JSC) Mission Control, the University of Arizona Lunar and Planetav Laboratory (Phoenix Mars Lander), and MBART (Monterey Bay Aquarium Research Institute).
This paper describes the tools and technologies that need to be developed for a Caching Rover mission in order to meet the overall Planetary Protection requirements for future Mars Sample Return (MSR) campaign. This is the result of an eight-month study sponsored by the Mars Exploration Program Office. The goal of this study is to provide a future MSR project with a focused technology development plan for achieving the necessary planetary protection and sample integrity capabilities for a Mars Caching Rover mission.
A new approach called bioinspired engineering of exploration systems (BEES) and its value for solving pressing NASA and DoD needs are described. Insects (for example honeybees and dragonflies) cope remarkably well with their world, despite possessing a brain containing less than 0.01% as many neurons as the human brain. Although most insects have immobile eyes with fixed focus optics and lack stereo vision, they use a number of ingenious, computationally simple strategies for perceiving their world in three dimensions and navigating successfully within it. We are distilling selected insect-inspired strategies to obtain novel solutions for navigation, hazard avoidance, altitude hold, stable flight, terrain following, and gentle deployment of payload. Such functionality provides potential solutions for future autonomous robotic space and planetary explorers. A BEES approach to developing lightweight low-power autonomous flight systems should be useful for flight control of such biomorphic flyers for both NASA and DoD needs. Recent biological studies of mammalian retinas confirm that representations of multiple features of the visual world are systematically parsed and processed in parallel. Features are mapped to a stack of cellular strata within the retina. Each of these representations can be efficiently modeled in semiconductor cellular nonlinear network (CNN) chips. We describe recent breakthroughs in exploring the feasibility of the unique blending of insect strategies of navigation with mammalian visual search, pattern recognition, and image understanding into hybrid biomorphic flyers for future planetary and terrestrial applications. We describe a few future mission scenarios for Mars exploration, uniquely enabled by these newly developed biomorphic flyers.
This document is the final report of the MAUDEE (Mars Upper Atmosphere Dynamics, Energetics, and Evolution) consortium. It describes a low cost Discovery mission to investigate the upper atmosphere of Mars and to understand the manner in which Mars has evolved over geologic time. In keeping with the innovative philosophy permeating the Discovery Program and in order to minimize the burden of reading an extensive prose exposition, a new presentation format has been adopted. The format involves a series of view graphs with facing text. The view graphs form the basis of a complete oral presentation of the MAUDEE mission and the facing text provides more detailed, but still brief, explanatory descriptions. Readers can scan the view graphs and/or read the facing text at their discretion. The oral presentation of this study was given to code SL personnel at NASA Headquarters on February 23, 1994. MAUDEE is an essential component of the Mars Exploration Program. It provides the information required to understand the evolution of the planet via the escape of volatiles. It provides the key measurements needed to understand the upper atmosphere of the last of the three terrestrial planets to be so studied. It connects and supplements investigations based on other Mars missions: Mars Surveyor, Planet-B and Mars-96. The MAUDEE mission plan involves a combination of remote and in-situ sensors, housed in three instrument packages. The sensors make measurements of the atmospheric regions between 60-200 km. These instruments are based on extensive heritage from Earth explorers and Pioneer Venus. The mission scenario has several phases and employs aerobraking maneuvers to lower initial apoapsis, thereby reducing fuel requirements. The spacecraft has body-mounted solar cells, enabling deep diving into the Martian atmosphere. The orbital inclination allows for pole-to-pole latitudinal sweeps in an initial elliptical phase, followed by a circular phase affording detailed diurnal measurements. The nominal mission duration at Mars is one Mars year.
In January of 2004 both of the Mars Exploration Rover spacecraft landed safely, initiating daily surface operations at the Jet Propulsion Laboratory for what was anticipated to be approximately three months of mobile exploration. The longevity of this mission, still ongoing after ten years, has provided not only a tremendous return of scientific data but also the opportunity to refine and improve the methodology by which robotic Mars surface missions are commanded. Since the landing of the Mars Science Laboratory spacecraft in August of 2012, this methodology has been successfully applied to operate a Martian rover which is both similar to, and quite different from, its predecessors. For MER and MSL, daily uplink operations can be most broadly viewed as converting the combined interests of both the science and engineering teams into a spacecraft-safe set of transmittable command files. In order to accomplish these ends a discrete set of mission-critical software tools were developed which not only allowed for conformation to established JPL standards and practices but also enabled innovative technologies specific to each mission. Although these primary programs provided the requisite capabilities for meeting the high-level goals of each distinct phase of the uplink process, there was little in the way of secondary software to support the smooth flow of data from one phase to the next. In order to address this shortcoming a suite of small software tools was developed to aid in phase transitions, as well as to automate some of the more laborious and error-prone aspects of uplink operations. This paper describes the evolution of this software suite, from its initial attempts to merely shorten the duration of the operator's shift, to its current role as an indispensable tool enforcing workflow of the uplink operations process and agilely responding to the new and unexpected challenges of missions which can, and have, lasted many years longer than originally anticipated.
Coherent lidar can play a critical role in future planetary exploration missions by providing key guidance, navigation, and control (GNC) data necessary for navigating planetary landers to the pre-selected site and achieving autonomous safe soft-landing. Although the landing accuracy has steadily improved over time to approximately 35 km for the recent Mars Exploration Rovers due to better approach navigation, a drastically different guidance, navigation and control concept is required to meet future mission requirements. For example, future rovers will require better than 6 km landing accuracy for Mars and better than 1 km for the Moon plus maneuvering capability to avoid hazardous terrain features. For this purpose, an all-fiber coherent lidar is being developed to address the call for advancement of entry, descent, and landing technologies. This lidar will be capable of providing precision range to the ground and approach velocity data, and in the case of landing on Mars, it will also measure the atmospheric wind and density. The lidar obtains high resolution range information from a frequency modulated-continuous wave (FM-CW) laser beam whose instantaneous frequency varies linearly with time, and the ground vector velocity is directly extracted from the Doppler frequency shift. Utilizing the high concentration of aerosols in the Mars atmosphere (approx. two order of magnitude higher than the Earth), the lidar can measure wind velocity with a few watts of optical power. Operating in 1.57 micron wavelength regime, the lidar can use the differential absorption (DIAL) technique to measure the average CO2 concentration along the laser beam using, that is directly proportional to the Martian atmospheric density. Employing fiber optics components allows for the lidar multi-functional operation while facilitating a highly efficient, compact and reliable design suitable for integration into a spacecraft with limited mass, size, and power resources.
Ongoing studies of the evolution of the Martian cratered highlands, the nature of the planet's early climate, and the recent announcement of possible evidence of ancient life in the ALH 84001 meteorite have reinvigorated interest in the conditions that prevailed on Mars during its first billion years of geologic history. To address this interest and assess our current understanding of these issues, the Lunar and Planetary Institute hosted a 4-day Conference on Early Mars in Houston in April of 1997. The papers contained in this special section are a product of that meeting. The purpose of the conference was twofold: (1) to consider how impacts, volcanism, and the presence of abundant water affected the physical and chemical environment that existed on Mars 4 Gyr ago, particularly as it related to the nature of the global climate, the origin of the valley networks, the geologic and mineralogic evolution of the surface, the aqueous geochemistry of groundwater, and the existence of local environments that may have been conducive to the development of indigenous life and the preservation of its signature in the geologic record; and (2) to discuss what observations or experiments might he included in future spacecraft missions to test the ideas and expectations arising from purpose 1. While pertinent issues of early atmospheric and solar evolution were also addressed, the primary discussion at the conference focused on the evidence and constraints provided by the geologic records of Earth, the Moon, and Mars and analysis of the SNC meteorites. The papers contained in this special section span the full range of these topics, including the stability of the early atmosphere to erosion by the solar wind, the geologic environment from which the SNC meteorites originated, geomorphic evidence regarding the nature of the early Martian climate and hydrologic cycle, the potential impact of the past and present environment on the preserved signature of ancient life, and a discussion of the capabilities of a lander-based X ray diffraction and fluorescence instrument to assess the potential for past fossilization from the mineralogy of the current local surface environment. The issues raised at the conference, and by the papers included in this special section, will be the focus of ongoing attention as the intensity and scope of Mars exploration increases over the next decade.
The chemical composition of rocks and soils on Mars analyzed during the Mars Exploration Rover Spirit Mission was determined by X-ray analyses with the Alpha Particle X-Ray Spectrometer (APXS). Details of the data analysis method and the instrument calibration are presented. Measurements performed on Mars to address geometry effects and background contributions are shown. Cross calibration measurements among several instrument sensors and sources are discussed. An unintentional swap of the two flight instruments is evaluated. New concentration data acquired during the first 470 sols of rover Spirit in Gusev Crater are presented. There are two geological regions, the Gusev plains and the Columbia Hills. The plains contain soils that are very similar to previous landing sites on Mars. A meteoritic component in the soil is identified. Rocks in the plains revealed thin weathering rinds. The underlying abraded rock was classified as primitive basalt. One of these rocks contained significant Br that is probably associated with vein-filling material of different composition. One of the trenches showed large subsurface enrichments of Mg, S, and Br. Disturbed soils and rocks in the Columbia Hills revealed different elemental compositions. These rocks are significantly weathered and enriched in mobile elements, such as P, S, Cl, or Br. Even abraded rock surfaces have high Br concentrations. Thus, in contrast to the rocks and soils in the Gusev Plains, the Columbia Hills material shows more significant evidence of ancient aqueous alteration.
Human space exploration has never been more exciting than it is today. Human presence to outer worlds is becoming a reality as humans are leveraging much of our prior knowledge to the new mission of going to Mars. Exploring the solar system at greater distances from Earth than ever before will possess some unique challenges, which can be overcome thanks to the advances in modeling and simulation technologies. The National Aeronautics and Space Administration (NASA) is at the forefront of exploring our solar system. NASA's Human Research Program (HRP) focuses on discovering the best methods and technologies that support safe and productive human space travel in the extreme and harsh space environment. HRP uses various methods and approaches to answer questions about the impact of long duration missions on the human in space including: gravity's impact on the human body, isolation and confinement on the human, hostile environments impact on the human, space radiation, and how the distance is likely to impact the human. Predictive models are included in the HRP research portfolio as these models provide valuable insights into human-system operations. This paper will provide an overview of NASA's HRP and will present a number of projects that have used modeling and simulation to provide insights into human-system issues (e.g. automation, habitat design, schedules) in anticipation of space exploration.
Human space exploration has never been more exciting than it is today. Human presence to outer worlds is becoming a reality as humans are leveraging much of our prior knowledge to the new mission of going to Mars. Exploring the solar system at greater distances from Earth than ever before will possess some unique challenges, which can be overcome thanks to the advances in modeling and simulation technologies. The National Aeronautics and Space Administration (NASA) is at the forefront of exploring our solar system. NASA's Human Research Program (HRP) focuses on discovering the best methods and technologies that support safe and productive human space travel in the extreme and harsh space environment. HRP uses various methods and approaches to answer questions about the impact of long duration missions on the human in space including: gravitys impact on the human body, isolation and confinement on the human, hostile environments impact on the human, space radiation, and how the distance is likely to impact the human. Predictive models are included in the HRP research portfolio as these models provide valuable insights into human-system operations. This paper will provide an overview of NASA's HRP and will present a number of projects that have used modeling and simulation to provide insights into human-system issues (e.g. automation, habitat design, schedules) in anticipation of space exploration.
Aeolus is a mission to provide the first direct measurements of Martian atmospheric wind speeds and correlate them with thermal and compositional data to bring together a complete systematic description for the global energy balance and climate cycles of Mars. Objective A of the Mars Exploration Program Analysis Group (MEPAG) Goal II cites a Science Investigation Area to develop a network of surface landers to provide global, diurnal and synoptic coverage of the near-surface environment to characterize present Mars climate [1]. Aeolus will characterize the present Martian global climate system via an orbiter element and a novel surface network element. A series of low mass, low power probes will be distributed across the Martian surface and measure pressure, sky opacity, temperature, wind speed, water vapor and other trace gases. Low mass and power electrical systems designed to operate in extreme cold and daily thermal cycling for one Martian year could facilitate lower cost, Class-D science probes. Aeolus is targeting a total per-probe mass of <5 kg. Recent advances in nanofabrication of chip-scale sensors that are highly robust to temperature and shock, combined with a novel packaging concept (the deployable sensor probe [2]) originally developed by the Aerospace Corp., for the first time enables a Mars surface climate sensor network. These probes are folded flat during transit to Mars and automatically deploy into the final reentry configuration once released from the orbiter. The capability to fold for stowage significantly increases the probe quantity carried by the orbiter.