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NASA NTRS2003

Essential Autonomous Science Inference on Rovers (EASIR)

Existing constraints on time, computational, and communication resources associated with Mars rover missions suggest on-board science evaluation of sensor data can contribute to decreasing human-directed operational planning, optimizing returned science data volumes, and recognition of unique or novel data. All of which act to increase the scientific return from a mission. Many different levels of science autonomy exist and each impacts the data collected and returned by, and activities of, rovers. Several computational algorithms, designed to recognize objects of interest to geologists and biologists, are discussed. The algorithms represent various functions that producing scientific opinions and several scenarios illustrate how the opinions can be used.

Roush, Ted L.↗
NASA NTRS2003

The Mobile Agents Integrated Field Test: Mars Desert Research Station April 2003

The Mobile Agents model-based, distributed architecture, which integrates diverse components in a system for lunar and planetary surface operations, was extensively tested in a two-week field "technology retreat" at the Mars Society s Desert Research Station (MDRS) during April 2003. More than twenty scientists and engineers from three NASA centers and two universities refined and tested the system through a series of incremental scenarios. Agent software, implemented in runtime Brahms, processed GPS, health data, and voice commands-monitoring, controlling and logging science data throughout simulated EVAs with two geologists. Predefined EVA plans, modified on the fly by voice command, enabled the Mobile Agents system to provide navigation and timing advice. Communications were maintained over five wireless nodes distributed over hills and into canyons for 5 km; data, including photographs and status was transmitted automatically to the desktop at mission control in Houston. This paper describes the system configurations, communication protocols, scenarios, and test results.

Clancey, William J.↗
NASA NTRS2004

MER Field Geologic Traverse in Gusev Crater, Mars: Initial Results From the Perspective of Spirit

This report casts the initial results of the traverse and science investigations by the Mars Exploration Rover (MER) Spirit at Gusev crater [1] in terms of data sets commonly used in field geologic investigations: Local mapping of geologic features, analyses of selected samples, and their location within the local map, and the regional context of the field traverse in terms of the larger geologic and physiographic region. These elements of the field method are represented in the MER characterization of the Gusev traverse by perspective-based geologic/morphologic maps, the placement of the results from Mossbauer, APXS, Microscopic Imager, Mini-TES and Pancam multispectral studies in context within this geologic/ morphologic map, and the placement of the overall traverse in the context of narrow-angle MOC (Mars Orbiter Camera) and descent images. A major campaign over a significance fraction of the mission will be the first robotic traverse of the ejecta from a Martian impact crater along an approximate radial from the crater center. The Mars Exploration Rovers have been conceptually described as 'robotic field geologists', that is, a suite of instruments with mobility that enables far-field traverses to multiple sites located within a regional map/image base at which in situ analyses may be done. Initial results from MER, where the field geologic method has been used throughout the initial course of the investigation, confirm that this field geologic model is applicable for remote planetary surface exploration. The field geologic method makes use of near-field geologic characteristics ('outcrops') to develop an understanding of the larger geologic context through continuous loop of rational steps focused on real-time hypothesis identification and testing. This poster equates 'outcrops' with the locations of in situ investigations and 'regional context' with the geology over distance of several kilometers. Using this fundamental field geologic method, we have identified the basic local geologic materials on the floor of Gusev at this site, their compositions and likely lithologies, origins, processes that have modified these materials, and their potential significance in the interpretation of the regional geology both spatially and temporally.

Crumpler, L.↗
NASA NTRS2004

Central Avra Valley Storage and Recovery Project (CAVSARP) Site, Tucson, Arizona: Floodwater and Soil Moisture Investigations with Extraterrestrial Applications

Planetary geologists, geomorphologists, and hydrologists have hypothesized that Mars is a dynamic, water-enriched planet since the Mariner and Viking missions based on geologic, geomorphic, and topographic information. Recent acquisition of Gamma Ray and Neutron Spectrometer information has added further credence to this hypothesis. A unique investigation is underway to work towards being able to successfully map the extent and depth of water on Mars. Researchers from the University of Arizona and members of the Autonomous Sciencecraft Experiment (ASE) have been compiling multiple layers of information in time and space at the Central Avra Valley Storage and Recovery Project (CAVSARP) site, Tucson, Arizona, for eventual comparative analysis. This information has been acquired from a variety of observational/scientific platforms in controlled conditions. CAVSARP facility:

Rucker, D. F.↗
NASA NTRS2004

Networking Technologies Enable Advances in Earth Science

This paper describes an experiment to prototype a new way of conducting science by applying networking and distributed computing technologies to an Earth Science application. A combination of satellite, wireless, and terrestrial networking provided geologists at a remote field site with interactive access to supercomputer facilities at two NASA centers, thus enabling them to validate and calibrate remotely sensed geological data in near-real time. This represents a fundamental shift in the way that Earth scientists analyze remotely sensed data. In this paper we describe the experiment and the network infrastructure that enabled it, analyze the data flow during the experiment, and discuss the scientific impact of the results.

Johnson, Marjory↗
NASA NTRS2003

Electrochemical approaches for chemical and biological analysis on Mars

Obtaining in situ chemical data from planetary bodies such as Mars or Europa can present significant challenges. The one analytical technique that has many of the requisite characteristics to meet such a challenge is electroanalysis. Described here are three electroanalytical devices designed for in situ geochemical and biological analysis on Mars. The Mars Environmental Compatibility Assessment (MECA) was built and flight qualified for the now cancelled NASA Mars 2001 Lander. Part of MECA consisted of four "cells" containing arrays of electrochemical based sensors for measuring the ionic species in soil samples. A next-generation MECA, the Robotic Chemical Analysis Laboratory (RCAL), uses a carousel-type system to allow for greater customization of analytical procedures. A second instrument, proposed as part of the 2007 CryoScout mission, consists of a flow-through inorganic chemical analyzer (MICA). CryoScout is a torpedo-like device designed for subsurface investigation of the stratigraphic climate record embedded in Mars' north polar cap. As the CryoScout melts its way through the ice cap, MICA will collect and analyze the meltwater for a variety of inorganics and chemical parameters. By analyzing the chemistry locked in the layers of dust, salt, and ice, geologists will be able to determine the recent history of climate, water, and atmosphere on Mars and link it to the past. Finally, electroanalysis shows its abilities in the detection of possible microorganism on Mars or elsewhere in the solar system. To identify an unknown microorganism, one that may not even use Earth-type biochemistry, requires a detection scheme which makes minimal assumptions and looks for the most general features. Recent work has demonstrated that the use of an array of electrochemical sensors which monitors the changes in a solution via electrical conductivity, pH, and ion selective electrodes, can be used to detect minute chemical perturbations caused by the growth of bacteria and with the correct methodology provide unamibiguous detection of such life forms.

Non-NASA Center↗
NASA NTRS2004

Crustal Evolution of the Protonilus Mensae Area, Mars

Despite research by numerous geologists and geo- physicists, the age and origin of the martian crustal dichotomy remain uncertain. Models for the origin of this dichotomy involve single or multiple impact, mantle megaplumes, primordial crustal asymmetry, and plate tectonics. Most of these models imply a Noachian age for the dichotomy. A major problem common to all genetic models is the difficulty separating the features resulting from the primary cause for the dichotomy from features due to younger fault- ing, impact cratering, volcanism, deposition, and erosion. highlands (the dichotomy boundary) approximates a small circle that ranges in latitude from about -10 deg. in Elysium Planitia to about +45 deg. north of Arabia Terra. For much of its length the boundary is characterized by relatively steep scarps separating highland plateau to the south from lowland plains to the north, generally with a complex transition zone on the lowland side of these scarps. These scarps are almost certainly due to normal faulting. The type fretted terrain, which defines the boundary in north-central Arabia Terra, also is characterized by scarps but has under- gone a more complex history of faulting and dissection [13]. In some places, notably in the Acidalia Planitia region, the dichotomy boundary is gradational. In the Tharsis region the boundary is obscured by younger volcanics.

McGill, G. E.↗
NASA NTRS2005

Automating CapCom Using Mobile Agents and Robotic Assistants

We have developed and tested an advanced EVA communications and computing system to increase astronaut self-reliance and safety, reducing dependence on continuous monitoring and advising from mission control on Earth. This system, called Mobile Agents (MA), is voice controlled and provides information verbally to the astronauts through programs called personal agents. The system partly automates the role of CapCom in Apollo-including monitoring and managing EVA navigation, scheduling, equipment deployment, telemetry, health tracking, and scientific data collection. EVA data are stored automatically in a shared database in the habitat/vehicle and mirrored to a site accessible by a remote science team. The program has been developed iteratively in the context of use, including six years of ethnographic observation of field geology. Our approach is to develop automation that supports the human work practices, allowing people to do what they do well, and to work in ways they are most familiar. Field experiments in Utah have enabled empirically discovering requirements and testing alternative technologies and protocols. This paper reports on the 2004 system configuration, experiments, and results, in which an EVA robotic assistant (ERA) followed geologists approximately 150 m through a winding, narrow canyon. On voice command, the ERA took photographs and panoramas and was directed to move and wait in various locations to serve as a relay on the wireless network. The MA system is applicable to many space work situations that involve creating and navigating from maps (including configuring equipment for local topology), interacting with piloted and unpiloted rovers, adapting to environmental conditions, and remote team collaboration involving people and robots.

Clancey, William J.↗
NASA NTRS2005

The Mars Exploration Rover Cameras: A Status Report

With more than 68,000 images returned from the surface of Mars to date, the Mars Exploration Rover (MER) camera suite continues to perform extremely well. Image signal to noise ratios (SNRs) are greater than 200:1, flat fields remain stable, and single-pixel degradation has been negligible. Acting as the eyes of the robotic field geologists, the 18 MER cameras continue to play a leading role in major scientific findings at both Gusez Crater and Meridiana Planum. All 4 types of cameras, the hazard avoidance (Hazcam), navigation (Navcam), the color panoramic (Pancam) and the microscopic imager (MI), continue to return data from the Martian surface from both Rovers. In addition to the rover cameras, each lander utilized a descent imager (DI) to help facilitate safe landing and provide landing site context. The Pancam and MI are part of the scientific instrument payload of the rovers. In addition to gathering gathering science image data, the Pacams also support sun finding and measure atmospheric dust optical depth. The Hazcam and Navcam stereo pairs are used for traverse planning, autonomous navigation and general imaging.

Schwochert, M. A.↗
NASA NTRS2005

Mars Exploration Rover Field Observations of Impact Craters at Gusev Crater and Meridiani Planum and Implications for Climate Change

The Mars Exploration Rovers have provided a field geologist's perspective of impact craters in various states of degradation along their traverses at Gusev crater and Meridiani Planum. This abstract will describe the craters observed and changes to the craters that constrain the erosion rates and the climate [l]. Changes to craters on the plains of Gusev argue for a dry and desiccating environment since the Late Hesperian in contrast to the wet and likely warm environment in the Late Noachian at Meridiani in which the sulfate evaporites were deposited in salt-water playas or sabkhas.

Golombek, M.↗
NASA NTRS2004

Teleoperation from Mars Orbit: A proposal for Human Exploration

For a human expedition to Mars, a case can be made that the best strategy for initial exploration is not to actually land the humans on Mars, but to put the humans into Mars orbit and operate on the surface by the technology of teleoperation. This will provide the results of human exploration, but at greatly reduced risk and cost. Teleoperation of Mars surface robots from a Mars-orbital habitat will operation near real time operation with minimum time delay, giving a virtual presence on the surface. By use of teleoperation, it is possible to vastly simplify the surface exploration mission. We now have no need to develop a human-rated Mars Lander and Mars Ascent Vehicle, and we can send geologists & biologists on the mission; not VTOL pilots. It is a cheaper, simpler, and safer way to explore, and hence it will be a faster way to explore. It has the excitement of being there, at a fraction of the price. Tele-exploration from Mars orbit also allows human (virtual) presence at a wide variety of locations. With an orbital base controlling surface telerobotics, human explorers are not stuck with one base location, but can explore all over Mars. They can explore the polar caps and also near-equatorial canyon regions, from the same orbiting base. This frees the mission from landing site constraints. With no need to select a "grab bag" site that contains a large number of geologically diverse features at or near a single location; it is now possible go to all the best sites-- paleolake sites, river beds, volcanic calderas, lava tube sites, layered terrain, canyons, possible shoreline features, the North and South poles. A near-polar inclination 24-hr 39-minute period Mars orbit, for example, will put the orbital station in line-of-sight of a given region for about 8 hours per day-- one teleoperation shift. Since present day life could exist on Mars, planetary protection is also needed to preserve the (possible) fragile Mars biosphere from competition from ferocious Earth life. Isolated biospheres on Earth have been devastated when they have been exposed to alien life forms introduced-accidentally or deliberately-- from another continent. If there is life on Mars, we will wish to protect it from having to compete with introduced Earth biota. Reverse planetary protection-protecting the Earth biosphere from exposure to Mars microorganisms-is also an important consideration. Exploring from orbit will reduce biological risk by keeping humans from exposure to possible Mars microbes. A telerobotic mission will need no quarantine on return to Earth, and avoids the difficult human question of how to isolate Mars mission astronauts infected by Martian microorganisms.

Landis, Geoffrey A.↗
NASA NTRS2005

Compact Micro-Imaging Spectrometer (CMIS): Investigation of Imaging Spectroscopy and Its Application to Mars Geology and Astrobiology

Future missions to Mars will attempt to answer questions about Mars' geological and biological history. The goal of the CMIS project is to design, construct, and test a capable, multi-spectral micro-imaging spectrometer use in such missions. A breadboard instrument has been constructed with a micro-imaging camera and Several multi-wavelength LED illumination rings. Test samples have been chosen for their interest to spectroscopists, geologists and astrobiologists. Preliminary analysis has demonstrated the advantages of isotropic illumination and micro-imaging spectroscopy over spot spectroscopy.

Staten, Paul W.↗
NASA NTRS1996

The Pathfinder Microrover

An exciting scientific component of the Pathfinder mission is the rover, which will act as a mini-field geologist by providing us with access to samples for chemical analyses and close-up images of the Martian surface, performing active experiments to modify the surface and study the results, and exploring the landing site area.

Mars Mars Pathfinder rover microrover imager for p↗
NASA NTRS1998

An Overview of the GeoSAR Terrain Mapping System

By the end of this century, a new tool will be available for geologists, earthquake researchers, emergency management agencies, and forestry and land use management agencies.

GeoSAR Geographic Synthetic Aperture Radar high re↗
NASA NTRS2004

Mars Exploration Rover thermal test program overview

In January 2004, two Mars Exploration Rovers (MER) landed on the surface of Mars to begin their mission as robotic geologists. A year prior to these historic landings, both rovers and the spacecraft that delivered them to Mars, were completing a series of environmental tests in facilities at the Jet Propulsion Laboratory. This paper describes the test program undertaken to validate the thermal design and verify the workmanship integrity of both rovers and the spacecraft. The spacecraft, which contained the rover within the aeroshell, were tested in a 7.5 m diameter thermal vacuum chamber. Thermal balance was performed for the near earth (hot case) condition and for the near Mars (cold case) condition. A solar simulator was used to provide the solar boundary condition on the solar array. IR lamps were used to simulate the solar heat load on the aeroshell for the off-sun attitudes experienced by the spacecraft during its cruise to Mars. Each rover was tested separately in a 3.0 m diameter thermal vacuum chamber over conditions simulating the warmest and coldest expected Mars diurnal temperature cycles. The environmental tests were conducted in a quiescent nitrogen atmosphere at a pressure of 8 to 10 Torr. In addition to thermal balance testing, the science instruments on board the rovers were tested successfully in the extreme environmental conditions anticipated for the mission. A solar simulator was not used in these tests.

thermal vacuum test↗
NASA NTRS2006

Propulsive maneuver design for the Mars Exploration Rover mission

Starting from approximately 150 candidate Martian landing sites, two distinct sites have been selected for further investigation by sophisticated rovers. The two rovers, named 'Spirit' and 'Opportunity', begin the surface mission respectively to Gusec Crater and Meridiani Planum in January 2004. the rovers are essentially robotic geologists, sent on a mission to research for evidence in the rocks and soil pertaining to the historical presence of water and the ability to possibly sustain life. Before this scientific search can commence, precise trajectory targeting and control is necessary to achieve the entry requirements for the selected landing sites within the constraints of the flight system. The maneuver design challenge is to meet or exceed these requirements while maintaining the necessary design flexibility to accommodate additional project concerns. Opportunities to improve performance and reduce risk based on trajectory control characteristics are also evaluated.

Opportunity↗
NASA NTRS2007

Sample Curation at a Lunar Outpost

The six Apollo surface missions returned 2,196 individual rock and soil samples, with a total mass of 381.6 kg. Samples were collected based on visual examination by the astronauts and consultation with geologists in the science back room in Houston. The samples were photographed during collection, packaged in uniquely-identified containers, and transported to the Lunar Module. All samples collected on the Moon were returned to Earth. NASA's upcoming return to the Moon will be different. Astronauts will have extended stays at an out-post and will collect more samples than they will return. They will need curation and analysis facilities on the Moon in order to carefully select samples for return to Earth.

Allen, Carlton C.↗
NASA NTRS2004

Mars Exploration Rovers Propulsive Maneuver Design

The Mars Exploration Rovers Spirit and Opportunity successfully landed respectively at Gusev Crater and Meridiani Planum in January 2004. The rovers are essentially robotic geologists, sent on a mission to search for evidence in the rocks and soil pertaining to the historical presence of water and the ability to possibly sustain life. In order to conduct NASA's 'follow the water' strategy on opposite sides of the planet Mars, an interplanetary journey of over 300 million miles culminated with historic navigation precision. Rigorous trajectory targeting and control was necessary to achieve the atmospheric entry requirements for the selected landing sites. The propulsive maneuver design challenge was to meet or exceed these requirements while preserving the necessary design margin to accommodate additional project concerns. Landing site flexibility was maintained for both missions after launch, and even after the first trajectory correction maneuver for Spirit. The final targeting strategy was modified to improve delivery performance and reduce risk after revealing constraining trajectory control characteristics. Flight results are examined and summarized for the six trajectory correction maneuvers that were planned for each mission.

trajectory↗