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Anomaly Recovery and the Mars Exploration Rovers

The premise of the design of operations for the Mars Exploration Rovers (MER) is that the vehicles will drive each day. As a result, they will encounter some aspect of the terrain environment that cannot be anticipated or otherwise accommodated by the sequences linked onboard that day. The operations team then must correct the problem by planning then commanding the execution of a different drive the next day. Often other aspects of the operation on the surface of Mars: environmental changes, component degradation, errors in sequence design or execution, etc., lead to anomalies which must be addressed before normal operations can resume. The operational design that makes it possible to recover from a driving error each day also reduces the time needed to recover from anomalies. As an example of the efficiency achieved, less than 5% (about 30 sols out of 700 sols of operations) of the time on the surface has been devoted to recovery from anomalies for each vehicle. In this paper the major anomalies experienced by the MER rovers will be recounted and the streamlined approaches to addressing these problems described. The operational flexibility developed for these missions is also a function of the system design that anticipated a number of likely faults and conditions arising from uncertainty in sequence execution and environmental change. This design will be described as well as the considerations in operation that motivated this design. These considerations will likely be present in any future surface mission.

rovers↗

PRTs and Their Bonding for Long-Duration, Extreme-Temperature Environments

Research was conducted on the qualification of Honeywell platinum resistance thermometer (PRT) bonding for use in the Mars Science Laboratory (MSL). This is the first time these sensors will be used for Mars-related projects. Different types of PRTs were employed for the Mars Exploration Rover (MER) project, and several reliability issues were experienced, even for a shortduration mission like MER compared to MSL. Therefore, the development of a qualification process for the Honeywell PRT bonding was needed for the MSL project. Reliability of the PRT sensors, and their bonding processes, is a key element to understand the health of the hardware during all stages of the project, and particularly during surface operations on Mars. Three extreme temperature summer season cycles and three winter season cycles (total: 1983 thermal cycles) were completed, and no Honeywell PRT failures associated with the bonding process were found. Seventy-eight PRTs were bonded onto six different substrate materials using four different adhesives during the thermal cycling, which included a planetary protection cycle to +125 C for two hours, three protoflight/qualification cycles (-135 to 70 C), 1,384 summer cycles (-105 to 40 C), and 599 winter cycles (-130 to 15 C). There were no observed changes in PRT resistances, bonding characteristics, or damage identified from the package evaluation as a result of the qualification tests.

Ramesham, Rajeshuni↗

Mars Hand Lens Imager (MAHLI) Efforts and Observations at the Rocknest Eolian Sand Shadow in Curiosity's Gale Crater Field Site

The Mars Science Laboratory (MSL) mission is focused on assessing the past or present habitability of Mars, through interrogation of environment and environmental records at the Curiosity rover field site in Gale crater. The MSL team has two methods available to collect, process and deliver samples to onboard analytical laboratories, the Chemistry and Mineralogy instrument (CheMin) and the Sample Analysis at Mars (SAM) instrument suite. One approach obtains samples by drilling into a rock, the other uses a scoop to collect loose regolith fines. Scooping was planned to be first method performed on Mars because materials could be readily scooped multiple times and used to remove any remaining, minute terrestrial contaminants from the sample processing system, the Collection and Handling for In-Situ Martian Rock Analysis (CHIMRA). Because of this cleaning effort, the ideal first material to be scooped would consist of fine to very fine sand, like the interior of the Serpent Dune studied by the Mars Exploration Rover (MER) Spirit team in 2004 [1]. The MSL team selected a linear eolian deposit in the lee of a group of cobbles they named Rocknest (Fig. 1) as likely to be similar to Serpent Dune. Following the definitions in Chapter 13 of Bagnold [2], the deposit is termed a sand shadow. The scooping campaign occurred over approximately 6 weeks in October and November 2012. To support these activities, the Mars Hand Lens Imager (MAHLI) acquired images for engineering support/assessment and scientific inquiry.

Edgett, K. S.↗

Properties of Martian Hematite at Meridiani Planum by Simultaneous Fitting of Mars Mossbauer Spectra

Mossbauer spectrometers [1] on the two Mars Exploration Rovers (MERs) have been making measurements of surface rocks and soils since January 2004, recording spectra in 10-K-wide temperature bins ranging from 180 K to 290 K. Initial analyses focused on modeling individual spectra directly as acquired or, to increase statistical quality, as sums of single-rock or soil spectra over temperature or as sums over similar rock or soil type [2, 3]. Recently, we have begun to apply simultaneous fitting procedures [4] to Mars Mossbauer data [5-7]. During simultaneous fitting (simfitting), many spectra are modeled similarly and fit together to a single convergence criterion. A satisfactory simfit with parameter values consistent among all spectra is more likely than many single-spectrum fits of the same data because fitting parameters are shared among multiple spectra in the simfit. Consequently, the number of variable parameters, as well as the correlations among them, is greatly reduced. Here we focus on applications of simfitting to interpret the hematite signature in Moessbauer spectra acquired at Meridiani Planum, results of which were reported in [7]. The Spectra. We simfit two sets of spectra with large hematite content [7]: 1) 60 rock outcrop spectra from Eagle Crater; and 2) 46 spectra of spherule-rich lag deposits (Table 1). Spectra of 10 different targets acquired at several distinct temperatures are included in each simfit set. In the table, each Sol (martian day) represents a different target, NS is the number of spectra for a given sol, and NT is the number of spectra for a given temperature. The spectra are indexed to facilitate definition of parameter relations and constraints. An example spectrum is shown in Figure 1, together with a typical fitting model. Results. We have shown that simultaneous fitting is effective in analyzing a large set of related MER Mossbauer spectra. By using appropriate constraints, we derive target-specific quantities and the temperature dependence of certain parameters. By examining different fitting models, we demonstrate an improved fit for martian hematite modeled with two sextets rather than as a single sextet, and show that outcrop and spherule hematite are distinct. For outcrop, the weaker sextet indicates a Morin transition typical of well-crystallized and chemically pure hematite, while most of the outcrop hematite remains in a weakly ferromagnetic state at all temperatures. For spherule spectra, both sextets are consistent with weakly ferromagnetic hematite with no Morin transition. For both hematites, there is evidence for a range of particle sizes.

Agresti, D. G.↗

Genotypic & Phenotypic Diversity of Microbial Isolates from the Mars Exploration Rovers

Mars-bound rovers such as the Mars Exploration Rover (MER) endure strict planetary protection implementation campaigns to assess bioburden. The objective of this study is to identify cultivable microorganisms isolated by the NASA Standard Assay from spacecraft during pre-launch and evaluate their potential to survive conditions on the Martian surface. Of approximately 350 isolates collected from the MER spacecraft archive, 171 microorganisms were reconstituted for characterization via 16S rRNA fingerprinting. Alignment of 16S sequences revealed high levels of sequence similarity to spore-forming species, overwhelmingly of the genera Bacillus (73.7%) and Paenibacillus (14.0%). Samples underwent phenotype characterization employing multiple carbon sources and ion concentrations in an automated microarray format using the Omnilog system. Working and stock cultures were prepared to address the immediate needs for day-to-day culture utilization and long-term preservation, respectively. Results from this study produced details about the microbes that contaminate surfaces of spacecraft, as well as a preliminary evaluation of a rapid biochemical ID method that also provides a phenotypic assessment of contaminants. The overall outcome of this study will benefit emerging cleaning and sterilization technologies for preventing forward contamination that could negatively impact future life detection or sample return missions.

Mars Exploration Rovers↗

Multiuser Collaboration with Networked Mobile Devices

In this paper we describe a multiuser collaboration infrastructure that enables multiple mission scientists to remotely and collaboratively interact with visualization and planning software, using wireless networked personal digital assistants(PDAs) and other mobile devices. During ground operations of planetary rover and lander missions, scientists need to meet daily to review downlinked data and plan science activities. For example, scientists use the Science Activity Planner (SAP) in the Mars Exploration Rover (MER) mission to visualize downlinked data and plan rover activities during the science meetings [1]. Computer displays are projected onto large screens in the meeting room to enable the scientists to view and discuss downlinked images and data displayed by SAP and other software applications. However, only one person can interact with the software applications because input to the computer is limited to a single mouse and keyboard. As a result, the scientists have to verbally express their intentions, such as selecting a target at a particular location on the Mars terrain image, to that person in order to interact with the applications. This constrains communication and limits the returns of science planning. Furthermore, ground operations for Mars missions are fundamentally constrained by the short turnaround time for science and engineering teams to process and analyze data, plan the next uplink, generate command sequences, and transmit the uplink to the vehicle [2]. Therefore, improving ground operations is crucial to the success of Mars missions. The multiuser collaboration infrastructure enables users to control software applications remotely and collaboratively using mobile devices. The infrastructure includes (1) human-computer interaction techniques to provide natural, fast, and accurate inputs, (2) a communications protocol to ensure reliable and efficient coordination of the input devices and host computers, (3) an application-independent middleware that maintains the states, sessions, and interactions of individual users of the software applications, (4) an application programming interface to enable tight integration of applications and the middleware. The infrastructure is able to support any software applications running under the Windows or Unix platforms. The resulting technologies not only are applicable to NASA mission operations, but also useful in other situations such as design reviews, brainstorming sessions, and business meetings, as they can benefit from having the participants concurrently interact with the software applications (e.g., presentation applications and CAD design tools) to illustrate their ideas and provide inputs.

ground operations↗

Mass properties testing of the Mars Exploration Rover missions

Lockheed Martin Space Systems Company (LMSSC) Denver, under contract to the Jet Propulsion Laboratory (JPL) performed the mass properties testing of the Mars Exploration Rover (MER) missions. This testing occurred over a ten-month period at bath the Jet Propulsion Laboratory and Kennedy Space Center (KSC). The tests at JPL were performed to verify model accuracy and determine arty issues that may affect the final mass properties measurements at the KSC launch site. Testing at KSC was performed on the Entry Vehicles and [he fully fueled spacecraft configurations for both the Spirit and Opportunity missions. All tests were completed successfully contributing to both mission's successful launch and subsequent landing on the surface of Mars in January of 2003.

Greene, Jason↗

Performance Testing of Yardney Li-Ion Cells and Batteries in Support of Future NASA Missions

NASA requires lightweight rechargeable batteries for future missions to Mars and the outer planets that are capable of operating over a wide range of temperatures, with high specific energy and energy densities. Due to the attractive performance characteristics, Li-ion batteries have been identified as the battery chemistry of choice for a number of future applications. For example, JPL is planning to launch another unmanned rover mission to the planet Mars. This mission, referred to as the Mars Science Laboratory (MSL), will involve the use of a rover that is much larger than the previously developed Spirit and Opportunity Rovers for the 2003 Mars Exploration Rover (MER) mission, that are currently still in operation on the surface of the planet after more than five years. Part of the reason that the MER rovers have operated so successfully, far exceeding the required mission duration of 90 sols, is that they possess robust Li-ion batteries, manufactured by Yardney Technical Products, which have demonstrated excellent life characteristics. Given the excellent performance characteristics displayed, similar Li-ion batteries have been projected to successfully meet the mission requirements of the up-coming MSL mission. In addition to future missions to Mars, Li-ion technology is attractive for a number of other future NASA applications which require high specific energy, rechargeable batteries. To ascertain the viability of using Li-ion batteries for these applications, a number of performance validation tests have been performed on both Yardney cells and batteries of various sizes. These tests include mission simulation tests, charge and discharge rate characterization testing, cycle life testing under various conditions, and storage testing.

Smart, M. C.↗

Preliminary Assessment of Mars Exploration Rover Landing Site Predictions

Selection of the Mars Exploration Rover (MER) landing sites took place over a three year period in which engineering constraints were identified, 155 possible sites were downselected to the final two, surface environments and safety considerations were developed, and the potential science return at the sites was considered. Landing sites in Gusev crater and Meridiani Planum were selected because they appeared acceptably safe for MER landing and roving and had strong morphologic and mineralogical indicators of liquid water in their past and thus appeared capable of addressing the science objectives of the MER missions, which are to determine the aqueous, climatic, and geologic history of sites on Mars where conditions may have been favorable to the preservation of evidence of possible pre-biotic or biotic processes. Engineering constraints important to the selection included: latitude (10 N-15 S) for maximum solar power; elevation (<-1.3 km) for sufficient atmosphere to slow the lander; low horizontal winds, shear and turbulence in the last few kilometers to minimize horizontal velocity; low 10-m scale slopes to reduce airbag spinup and bounce; moderate rock abundance to reduce abrasion or stroke-out of the airbags; and a radar-reflective, load-bearing and trafficable surface safe for landing and roving that is not dominated by fine-grained dust. In selecting the MER landing sites these engineering constraints were addressed via comprehensive evaluation of surface and atmospheric characteristics from existing remote sensing data and models as well as targeted orbital information acquired from Mars Global Surveyor and Mars Odyssey. This evaluation resulted in a number of predictions of the surface characteristics of the sites, which are tested in this abstract. Relating remote sensing signatures to surface characteristics at landing sites allows these sites to be used as ground truth for the orbital data, is essential for selecting and validating landing sites for future missions, and is required for correctly interpreting the surfaces and materials globally present on Mars.

Golombek, M.↗

Mars Exploration Rovers orbit determination filter strategy

The successful delivery of the Mars Exploration Rover (MER) landers to well with in the boundaries of their surface target areas in January of 2004 was the culmination of years of orbit determination analysis. The process began with a careful consideration of the filter parameters used for pre-launch covariance studies, and continued with the refinement of the filter after launch based on operational experience. At the same time, tools were developed to run a plethora of variations around the nominal filter and anlyze the results in ways that had never been previously attempted for an interplanetary mission. In addition to the achieved sub-kilometer Mars B plane orbit determination knowledge, the filter strategy and process responded to unexpected error sources by both detecting them and proving robust. All these facets of the MER orbit determination filter strategy are described in this paper.

orbit determination↗

Ballistic Range Testing of the Mars Exploration Rover Entry Capsule

Results from a 25 shot ballistic range test of the Mars Exploration Rover (MER) aeroshell are presented. The supersonic pitch damping properties of the MER capsule were characterized between Mach = 1.5 and Mach = 3.5 and total angles-of-attack from 0 degrees to greater than 25 degrees. Three capsule center-of-gravity positions were tested across this range of conditions, 0.27, 0.30 and 0.33 body diameters aft of the nose. Parameter identification results show that the capsule is dynamically unstable at low angles-of-attack across the Mach numbers tested, with instability increasing with lower speeds. This dynamic instability was seen to increase with aft center-of-gravity movement. The MER outer mold line was very similar to the successful Mars Pathfinder capsule with only minor modifications. Pathfinder relied on Viking forced oscillation data for preflight predictions. The pitch damping data calculated from this test program are shown to more accurately reproduce the measured Path finder flight data.

Schoenenberger, Mark↗

Santorini, Another Meteorite on Mars and Third of a Kind

The Mars Exploration Rover (MER) Opportunity has been studying Meridiani Planum for five years. On sol 1634 of its mission, Opportunity left Victoria crater after investigating it for approximately 682 sols [1] and is now on a journey towards Endeavour, a 24 km diameter crater about 12 km southeast of Victoria. A priority along the way is the investigation of cobbles, which in the jargon of the MER science team denotes any loose rock fragment larger than a couple of centimeters. Cobbles investigated thus far are of diverse origin [2] and provide the only means to investigate material other than the ubiquitous sulfate-rich outcrop, basaltic sand or hematiterich spherules dubbed blueberries. Some of these cobbles are meteorites [3]. Meteorites on Mars are not just a curiosity that make Mars a more Earth-like planet. Metallic iron in meteorites, for example, may be used as a more sensitive tracer for volatile surface interactions compared to igneous minerals [4]. Between sols 1713 and 1749, including the period of Mars solar conjunction, Opportunity investigated a cobble informally named Santorini. Its chemical and mineralogical composition is very similar to Barberton and Santa Catarina, two cobbles that were identified as meteorites and which are probably related to each other [3]. Santorini was investigated with the rover s Panoramic Camera (Pancam), Microscopic Imager (MI), Alpha-Particle X-ray Spectrometer (APXS) and Moessbauer (MB) spectrometer. The miniature Thermal Emission Spectrometer (mini-TES) was not operational at the time. The Rock Abrasion Tool (RAT) could not be used to brush off potential dust coatings because of unfavorable geometry.

Schroeder, C.↗

Acid Sulfate Alteration in Gusev Crater, Mars

The Mars Exploration Rover (MER) Spirit landed on the Gusev Crater plains west of the Columbia Hills in January, 2004, during the Martian summer (sol 0; sol = 1 Martian day = 24 hr 40 min). Spirit explored the Columbia Hills of Gusev Crater in the vicinity of Home Plate at the onset on its second winter (sol approximately 900) until the onset of its fourth winter (sol approximately 2170). At that time, Spirit became mired in a deposit of fined-grained and sulfate-rich soil with dust-covered solar panels and unfavorable pointing of the solar arrays toward the sun. Spirit has not communicated with the Earth since sol 2210 (January, 2011). Like its twin rover Opportunity, which landed on the opposite side of Mars at Meridiani Planum, Spirit has an Alpha Particle X-Ray Spectrometer (APXS) instrument for chemical analyses and a Moessbauer spectrometer (MB) for measurement of iron redox state, mineralogical speciation, and quantitative distribution among oxidation (Fe(3+)/sigma Fe) and coordination (octahedral versus tetrahedral) states and mineralogical speciation (e.g., olivine, pyroxene, ilmenite, carbonate, and sulfate). The concentration of SO3 in Gusev rocks and soils varies from approximately 1 to approximately 34 wt%. Because the APXS instrument does not detect low atomic number elements (e.g., H and C), major-element oxide concentrations are normalized to sum to 100 wt%, i.e., contributions of H2O, CO2, NO2, etc. to the bulk composition care not considered. The majority of Gusev samples have approximately 6 plus or minus 5 wt% SO3, but there is a group of samples with high SO3 concentrations (approximately 30 wt%) and high total iron concentrations (approximately 20 wt%). There is also a group with low total Fe and SO3 concentrations that is also characterized by high SiO2 concentrations (greater than 70 wt%). The trend labeled "Basaltic Soil" is interpreted as mixtures in variable proportions between unaltered igneous material and oxidized and SO3-rich basaltic dust. The Moessbauer parameters are not definitive for mineralogical speciation (other than octahedrally-coordinated Fe(3+) but are consistent with a schwertmannite-like phase (i.e., a nanophase ferric oxide). The high oxidation state and values of Moessbauer parameters (center shift and quadrupole splitting) for the high-SO3 samples imply ferric sulfate (i.e., oxidized sulfur), although the hydration state cannot be constrained. In no case is there an excess of SO3 over available cations (i.e., no evidence for elemental sulfur), and Fe sulfide (pyrite) has been detected in only one Gusev sample. The presence of both high-SiO2 (and low total iron and SO3) and high SO3 (and high total iron as ferric sulfate) can be accommodated by a two-step geochemical model developed with the Geochemist's Workbench. (1) Step 1 is anoxic acid sulfate leaching of Martian basalt at high water-to rock ratios (greater than 70). The result is a high-SiO2 residue0, and anoxic conditions are required to solubilize Fe as Fe(2+). (2) Step 2 is the oxic precipitation of sulfate salts from the leachate. Oxic conditions are required to produce the high concentrations of ferric sulfate with minor Mg-sulfates and no detectable Fe(2+)-sulfates.

Morris, R. V.↗

Using Visual Odometry to Estimate Position and Attitude

A computer program in the guidance system of a mobile robot generates estimates of the position and attitude of the robot, using features of the terrain on which the robot is moving, by processing digitized images acquired by a stereoscopic pair of electronic cameras mounted rigidly on the robot. Developed for use in localizing the Mars Exploration Rover (MER) vehicles on Martian terrain, the program can also be used for similar purposes on terrestrial robots moving in sufficiently visually textured environments: examples include low-flying robotic aircraft and wheeled robots moving on rocky terrain or inside buildings. In simplified terms, the program automatically detects visual features and tracks them across stereoscopic pairs of images acquired by the cameras. The 3D locations of the tracked features are then robustly processed into an estimate of overall vehicle motion. Testing has shown that by use of this software, the error in the estimate of the position of the robot can be limited to no more than 2 percent of the distance traveled, provided that the terrain is sufficiently rich in features. This software has proven extremely useful on the MER vehicles during driving on sandy and highly sloped terrains on Mars.

Maimone, Mark↗

The Effects of Clock Drift on the Mars Exploration Rovers

All clocks drift by some amount, and the mission clock on the Mars Exploration Rovers (MER) is no exception. The mission clock on both MER rovers drifted significantly since the rovers were launched, and it is still drifting on the Opportunity rover. The drift rate is temperature dependent. Clock drift causes problems for onboard behaviors and spacecraft operations, such as attitude estimation, driving, operation of the robotic arm, pointing for imaging, power analysis, and telecom analysis. The MER operations team has techniques to deal with some of these problems. There are a few techniques for reducing and eliminating the clock drift, but each has drawbacks. This paper presents an explanation of what is meant by clock drift on the rovers, its relationship to temperature, how we measure it, what problems it causes, how we deal with those problems, and techniques for reducing the drift.

rovers↗

What We Might Know About Gusev Crater if the Mars Exploration Rover Spirit Mission were Coupled with a Mars Sample Return Mission

The science instruments on the Mars Exploration Rover (MER) Spirit have provided an enormous amount of chemical and mineralogical data during more than 1450 sols of exploration at Gusev crater. The Moessbauer (MB) instrument identified 10 Fe-bearing phases at Gusev Crater: olivine, pyroxene, ilmenite, chromite, and magnetite as primary igneous phases and nanophase ferric oxide (npOx), goethite, hematite, a ferric sulfate, and pyrite/marcusite as secondary phases. The Miniature Thermal Emission Spectrometer (Mini-TES) identified some of these Fe-bearing phases (olivine and pyroxene), non- Fe-bearing phases (e.g., feldspar), and an amorphous high-SiO2 phase near Home Plate. Chemical data from the Alpha Particle X-Ray Spectrometer (APXS) provided the framework for rock classification, chemical weathering/alteration, and mineralogical constraints. APXS-based mineralogical constraints include normative calculations (with Fe(3+)/FeT from MB), elemental associations, and stoichiometry (e.g., 90% SiO2 implicates opalline silica). If Spirit had cached a set of representative samples and if those samples were returned to the Earth for laboratory analysis, what value is added by Mars Sample return (MSR) over and above the mineralogical and chemical data provided by MER?

Morris, Richard V.↗

Data Management for Mars Exploration Rovers

Data Management for the Mars Exploration Rovers (MER) project is a comprehensive system addressing the needs of development, test, and operations phases of the mission. During development of flight software, including the science software, the data management system can be simulated using any POSIX file system. During testing, the on-board file system can be bit compared with files on the ground to verify proper behavior and end-to-end data flows. During mission operations, end-to-end accountability of data products is supported, from science observation concept to data products within the permanent ground repository. Automated and human-in-the-loop ground tools allow decisions regarding retransmitting, re-prioritizing, and deleting data products to be made using higher level information than is available to a protocol-stack approach such as the CCSDS File Delivery Protocol (CFDP).

Mars missions↗

UHF Relay Antenna Measurements on Phoenix Mars Lander Mockup

The Phoenix Lander, a NASA Discovery mission which lands on Mars in the spring of 2008, will rely entirely on UHF relay links between it and Mars orbiting assets, (Odyssey and Mars Reconnaissance Orbiter (MRO)), to communicate with the Earth. As with the Mars Exploration Rover (MER) relay system, non directional antennas will be used to provide roughly emispherical coverage of the Martian sky. Phoenix lander deck object pattern interference and obscuration are significant, and needed to be quantified to answer system level design and operations questions. This paper describes the measurement campaign carried out at the SPAWAR (Space and Naval Warfare Research) Systems Center San Diego (SSC-SD) hemispherical antenna range, using a Phoenix deck mockup and engineering model antennas. One goal of the measurements was to evaluate two analysis tools, the time domain CST, and the moment method WIPL-D software packages. These would subsequently be used to provide pattern analysis for configurations that would be difficult and expensive to model and test on Earth.

scattering↗