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NASA NTRS2006

The 2004 NASA Aerospace Battery Workshop

Topics covered include: Super NiCd(TradeMark) Energy Storage for Gravity Probe-B Relativity Mission; Hubble Space Telescope 2004 Battery Update; The Development of Hermetically Sealed Aerospace Nickel-Metal Hydride Cell; Serial Charging Test on High Capacity Li-Ion Cells for the Orbiter Advanced Hydraulic Power System; Cell Equalization of Lithium-Ion Cells; The Long-Term Performance of Small-Cell Batteries Without Cell-Balancing Electronics; Identification and Treatment of Lithium Battery Cell Imbalance under Flight Conditions; Battery Control Boards for Li-Ion Batteries on Mars Exploration Rovers; Cell Over Voltage Protection and Balancing Circuit of the Lithium-Ion Battery; Lithium-Ion Battery Electronics for Aerospace Applications; Lithium-Ion Cell Charge Control Unit; Lithium Ion Battery Cell Bypass Circuit Test Results at the U.S. Naval Research Laboratory; High Capacity Battery Cell By-Pass Switches: High Current Pulse Testing of Lithium-Ion; Battery By-Pass Switches to Verify Their Ability to Withstand Short-Circuits; Incorporation of Physics-Based, Spatially-Resolved Battery Models into System Simulations; A Monte Carlo Model for Li-Ion Battery Life Projections; Thermal Behavior of Large Lithium-Ion Cells; Thermal Imaging of Aerospace Battery Cells; High Rate Designed 50 Ah Li-Ion Cell for LEO Applications; Evaluation of Corrosion Behavior in Aerospace Lithium-Ion Cells; Performance of AEA 80 Ah Battery Under GEO Profile; LEO Li-Ion Battery Testing; A Review of the Feasibility Investigation of Commercial Laminated Lithium-Ion Polymer Cells for Space Applications; Lithium-Ion Verification Test Program; Panasonic Small Cell Testing for AHPS; Lithium-Ion Small Cell Battery Shorting Study; Low-Earth-Orbit and Geosynchronous-Earth-Orbit Testing of 80 Ah Batteries under Real-Time Profiles; Update on Development of Lithium-Ion Cells for Space Applications at JAXA; Foreign Comparative Technology: Launch Vehicle Battery Cell Testing; 20V, 40 Ah Lithium Ion Polymer Battery for the Spacesuit; Low Temperature Life-Cycle Testing of a Lithium-Ion Battery for Low-Earth-Orbiting Spacecraft; and Evaluation of the Effects of DoD and Charge Rate on a LEO Optimized 50 Ah Li-Ion Aerospace Cell.

Source record↗
NASA NTRS2007

Visual End-Effector Position Error Compensation for Planetary Robotics

This paper describes a vision-guided manipulation algorithm that improves arm end-effector positioning to subpixel accuracy and meets the highly restrictive imaging and computational constraints of a planetary robotic flight system. Analytical, simulation-based, and experimental analyses of the algorithm's effectiveness and sensitivity to camera and arm model error is presented along with results on several prototype research systems and 'ground-in-the-loop' technology experiments on the Mars Exploration Rover (MER) vehicles. A computationally efficient and robust subpixel end-effector fiducial detector that is instrumental to the algorithm's ability to achieve high accuracy is also described along with its validation results on MER data.

vision-guided manipulation algorithm↗
NASA NTRS2006

Spectral Variability among Rocks in Visible and Near Infrared Multispectral Pancam Data Collected at Gusev Crater: Examinations using Spectral Mixture Analysis and Related Techniques

Visible and Near Infrared (VNIR) multispectral observations of rocks made by the Mars Exploration Rover Spirit s Panoramic camera (Pancam) have been analysed using a spectral mixture analysis (SMA) methodology. Scenes have been examined from the Gusev crater plains into the Columbia Hills. Most scenes on the plains and in the Columbia Hills could be modeled as three endmember mixtures of a bright material, rock, and shade. Scenes of rocks disturbed by the rover s Rock Abrasion Tool (RAT) required additional endmembers. In the Columbia Hills there were a number of scenes in which additional rock endmembers were required. The SMA methodology identified relatively dust-free areas on undisturbed rock surfaces, as well as spectrally unique areas on RAT abraded rocks. Spectral parameters from these areas were examined and six spectral classes were identified. These classes are named after a type rock or area and are: Adirondack, Lower West Spur, Clovis, Wishstone, Peace, and Watchtower. These classes are discriminable based, primarily, on near-infrared (NIR) spectral parameters. Clovis and Watchtower class rocks appear more oxidized than Wishstone class rocks and Adirondack basalts based on their having higher 535 nm band depths. Comparison of the spectral parameters of these Gusev crater rocks to parameters of glass-dominated basaltic tuffs indicates correspondence between measurements of Clovis and Watchtower classes, but divergence for the Wishstone class rocks which appear to have a higher fraction of crystalline ferrous iron bearing phases. Despite a high sulfur content, the rock Peace has NIR properties resembling plains basalts.

Farrand, W. H.↗
NASA NTRS2006

The Rocks of the Columbia Hills

The Mars Exploration Rover Spirit has identified five distinct rock types in the Columbia Hills of Gusev crater. Clovis Class rock is a poorly-sorted clastic rock that has undergone substantial aqueous alteration. We interpret it to be aqueously-altered ejecta deposits formed by impacts into basaltic materials. Wishstone Class rock is also a poorly-sorted clastic rock that has a distinctive chemical composition that is high in Ti and P and low in Cr. Wishstone Class rock may be pyroclastic in origin. Peace Class rock is a sedimentary material composed of ultramafic sand grains cemented by significant quantities of Mg- and Ca-sulfates. Peace Class rock may have formed when water briefly saturated the ultramafic sands, and evaporated to allow precipitation of the sulfates. Watchtower Class rocks are similar chemically to Wishstone Class rocks, and have undergone widely varying degrees of near-isochemical aqueous alteration. They may also be ejecta deposits, formed by impacts into Wishstone-rich materials and altered by small amounts of water. Backstay Class rocks are basalt/trachybasalt lavas that were emplaced in the Columbia Hills after the other rock classes were, either as impact ejecta or by localized volcanic activity. The geologic record preserved in the rocks of the Columbia Hills reveals a period very early in martian history in which volcanic materials were widespread, impact was a dominant process, and water was commonly present.

Squyres, Steven W.↗
NASA NTRS2006

Magnetite in Martian Meteorite Mil 03346 and Gusev Adirondack Class Basalt: Moessbauer Evidence for Variability in the Oxidation State of Adirondack Lavas

The Moessbauer spectrometers on the Mars Exploration Rovers Spirit (Gusev crater) and Opportunity (Meridiani Planum) have returned information on the oxidation state of iron, the mineralogical composition of Fe-bearing phases, and the distribution of Fe among oxidation states and phases [1,2,3]. To date, ~100 and ~85 surface targets have been analyzed by the Spirit and Opportunity spectrometers, respectively. Twelve component subspectra (8 doublets and 4 sextets) have been identified and most have been assigned to mineralogical compositions [4]. Two sextet subspectra result from the opaque and strongly magnetic mineral magnetite (Fe3O4 for the stoichiometric composition), one each for the crystallographic sites occupied by tetrahedrally-coordinated Fe3+ and by octahedrally-coordinated Fe3+ and Fe2+. At Gusev crater, the percentage of total Fe associated with magnetite for rocks ranges from 0 to ~ 35% (Fig. 1) [3]. The range for soils (~5 to ~12% of total Fe from Mt, with one exception) is narrower. The ubiquitous presence of Mt in soil firmly establishes the phase as the strongly magnetic component in martian soil

Morris, R. V.↗
NASA NTRS2006

An Overview of Moessbauer Mineralogy at Gusev Crater, Mars

The Mars Exploration Rover (MER) Spirit landed on the plains of Gusev Crater on 4 January 2004 [1]. The scientific objective of the Moessbauer (MB) spectrometer on Spirit is to provide quantitative information about the distribution of Fe among its oxidation and coordination states, identification of Fe-bearing phases, and relative distribution of Fe among those phases. The speciation and distribution of Fe in Martian rock and soil constrains the primary rock types, redox conditions under which primary minerals crystallized, the extent of alteration and weathering, the type of alteration and weathering products, and the processes and environmental conditions for alteration and weathering.We discuss the Fe-bearing phases detected by Spirit s MB instrument during its first 540 sols of exploration [2,3]. Spirit roved eastward across the plains from its landing site to the Columbia Hills during the first approx.150 sols. Rocks are unweathered to weakly weathered olivine basalt, with olivine, pyroxene (Ol > Px), magnetite (Mt), and minor hematite (Hm) and nanophase ferric oxide (npOx) as their primary Fe-bearing minerals. Soils are generally similar basaltic materials, except that the proportion of npOx is much higher (up to approx.40%). NpOx is an oct-Fe3+ alteration product whose concentration is highest in fine-grained soils and lowest in rock interiors exposed by grinding with the Rock Abrasion Tool (RAT). Spirit explored the lower slopes of the Columbia Hills (West Spur) during sols approx.150-320. West Spur rocks are highly altered, even for interior surfaces exposed by grinding (Fe3+/FeT approx.0.56-0.84). High concentrations of npOx, Hm, and Mt are present. One rock (Clovis) contains significant quantities of goethite (alpha-FeOOH; approx.40% of total Fe). The detection of goethite is very significant because it is a mineralogical marker for aqueous alteration.

Klingelhoefer, G.↗
NASA NTRS2006

Evidence for Halite at Meridiani Planum

The outcrop rocks investigated by the Mars Exploration Rover (MER) Opportunity at Meridiani Planum consist of altered basaltic fines emplaced through aeolian and aqueous processes. Diagenesis through episodes of groundwater influx is likely responsible for lithification of the sediments, formation and subsequent dissolution of embedded crystals, and development of hematitic spherules with occasional cemented overgrowths [1]. The action of liquid water in the development of these rocks prompts the search for pure evaporative salts such as chlorides. Extensive deposits of this nature have not yet been discovered and may be a result of erosion and removal from stratigraphic layers above those sampled by Opportunity, or burial beneath accessible depths [2]. Nonetheless, the presence of small amounts of halite (NaCl) associated with coatings and rinds is indicated by the available data.

Yen, Albert S.↗
NASA NTRS2006

Chemical Diversity along the Traverse of the Rover Spirit at Gusev Crater

The Alpha-Particle-X-ray Spectrometer (APXS) is part of the in situ payload of the Mars Exploration Rovers. It has determined the chemical composition of soils and rocks along the nearly 6 km long traverse of the rover Spirit. The measuring method a combination of PIXE and XRF using Cm244 sources - allowed the unambiguous identification of elemental compositions with high precision. Besides sample triage and quantification of saltforming elements as indicators for aqueous alteration, the APXS also delivered important constraints to mineralogy intruments (i.e., Mossbauer (MB), MiniTES, Pancam) on minerals and rock types. The mineralogy instruments on the other hand provided constraints on minerals used for APXS normative calculations and, e.g. allowed the attribution of S to sulfate, instead of sulfide or elemental sulfur. This abstract gives an updated overview of the data obtained up to our current rover position on sol 720 at the eastern base of the Columbia Hills. We will emphasize elemental correlations that imply the presence of certain minerals that can not be identified by the MER mineralogy instruments.

Gellert, R.↗
NASA NTRS2006

Magnetite in Martian Meteorite Mil 03346 and Gusev Adirondack Class Basalt: Mossbauer Evidence for Variability in the Oxidation State of Adirondack Lavas

The Moessbauer spectrometers on the Mars Exploration Rovers Spirit (Gusev crater) and Opportunity (Meridiani Planum) have returned information on the oxidation state of iron, the mineralogical composition of Fe-bearing phases, and the distribution of Fe among oxidation states and phases [1,2,3]. To date, approx.100 and approx.85 surface targets have been analyzed by the Spirit and Opportunity spectrometers, respectively. Twelve component subspectra (8 doublets and 4 sextets) have been identified and most have been assigned to mineralogical compositions [4]. Two sextet subspectra result from the opaque and strongly magnetic mineral magnetite (Fe3O4 for the stoichiometric composition), one each for the crystallographic sites occupied by tetrahedrally-coordinated Fe3+ and by octahedrally-coordinated Fe3+ and Fe2+. At Gusev crater, the percentage of total Fe associated with magnetite for rocks ranges from 0 to approx. 35% (Fig. 1) [3]. The range for soils (approx.5 to approx.12% of total Fe from Mt, with one exception) is narrower. The ubiquitous presence of Mt in soil firmly establishes the phase as the strongly magnetic component in martian soil [4,5].

Morris, R. V.↗
NASA NTRS2004

Geomorphology of Ma'adim Vallis, Mars,and Associated Paleolake Basins

Ma'adim Vallis, one of the largest valleys in the Martian highlands, appears to have originated by catastrophic overflow of a large paleola ke located south of the valley heads. Ma'adim Vallis debouched to Gus ev crater, 900 km to the north, the landing site for the Spirit Mars Exploration Rover. Support for the paleolake overflow hypothesis come s from the following characteristics: (I) With a channel width of 3 km at its head, Ma'adim Vallis originates at two (eastern and western) gaps incised into the divide of the approximately 1.1 M km(exp 2) enc losed Eridania head basin, which suggests a lake as the water source. (2) The sinuous course of Ma'adim Vallis is consistent with overland flow controlled by preexisting surface topography, and structural con trol is not evident or required to explain the valley course. (3) The nearly constant approximately 5 km width of the inner channel through crater rim breaches, the anastomosing course of the wide western tri butary, the migration of the inner channel to the outer margins of be nds in the valley's lower reach, a medial sedimentary bar approximate ly 200 m in height, and a step-pool" sequence are consistent with modeled flows of 1-5 x l0 (exp 6) m(exp 3)/s. Peak discharges were likely higher but are poorly constrained by the relict channel geometry. (4 ) Small direct tributary valleys to Ma'adim Vallis have convex-up lon gitudinal profiles, suggesting a hanging relationship to a valley that was incised quickly relative to the timescales of tributary developm ent. (5) The Eridania basin had adequate volume between the initial d ivide and the incised gap elevations to carve Ma'adim Vallis during a single flood. (6) The Eridania basin is composed of many overlapping , highly degraded and deeply buried impact craters. The floor materials of the six largest craters have an unusually high internal relief ( approximately 1 km) and slope (approximately 0.5-1.5 degrees) among d egraded Martian craters, which are usually flat-floored. Long-term, fluvial sediment transport appears to have been inhibited within these craters, and the topography is inconsistent with basaltic infilling. (7) Fluvial valleys do not dissect the slopes of these deeper crater floor depressions, unlike similar slopes that are dissected at higher levels in the watershed. These characteristics (6, 7) suggest that wa ter mantled at least the lower parts of the Eridania basin floor thro ughout the period of relatively intense erosion early in Martian hist ory. The lake level increased and an overflow occurred near the close of the Noachian (age determined using >5 km crater counts). Initially , the Eridania basin debouched northward at two locations into the in termediate basin, a highly degraded impact crater approximately 500 k m in diameter. As this intermediate basin was temporarily filled with water, erosion took place first along the lower (northern) reach of Ma'adim Vallis, debouching to Gusev crater. The western overflow point was later abandoned, and erosion of the intermediate basin interior was concentrated along the eastern pathway. Subsequent air fall depos ition, impact gardening, tectonism, and limited fluvial erosion modified the Eridania basin region, so evidence for a paleolake is restrict ed to larger landforms that could survive post-Noachian degradation p rocesses.

Irwin, Rossman, P., III↗
NASA NTRS2008

Targeting and Localization for Mars Rover Operations

A design and a partially developed application framework were presented for improving localization and targeting for surface spacecraft. The program has value for the Mars Science Laboratory mission, and has been delivered to support the Mars Exploration Rovers as part of the latest version of the Maestro science planning tool. It also has applications for future missions involving either surface-based or low-altitude atmospheric robotic vehicles. The targeting and localization solutions solve the problem of how to integrate localization estimate updates into operational planning tools, operational data product generalizations, and flight software by adding expanded flexibility to flight software, the operations data product pipeline, and operations planning tools based on coordinate frame updates during a planning cycle.

Powell, Mark W.↗
NASA NTRS2008

Software Analyzes Complex Systems in Real Time

Expert system software programs, also known as knowledge-based systems, are computer programs that emulate the knowledge and analytical skills of one or more human experts, related to a specific subject. SHINE (Spacecraft Health Inference Engine) is one such program, a software inference engine (expert system) designed by NASA for the purpose of monitoring, analyzing, and diagnosing both real-time and non-real-time systems. It was developed to meet many of the Agency s demanding and rigorous artificial intelligence goals for current and future needs. NASA developed the sophisticated and reusable software based on the experience and requirements of its Jet Propulsion Laboratory s (JPL) Artificial Intelligence Research Group in developing expert systems for space flight operations specifically, the diagnosis of spacecraft health. It was designed to be efficient enough to operate in demanding real time and in limited hardware environments, and to be utilized by non-expert systems applications written in conventional programming languages. The technology is currently used in several ongoing NASA applications, including the Mars Exploration Rovers and the Spacecraft Health Automatic Reasoning Pilot (SHARP) program for the diagnosis of telecommunication anomalies during the Neptune Voyager Encounter. It is also finding applications outside of the Space Agency.

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NASA NTRS2009

NASA Tech Briefs, February 2009

Tech Briefs are short announcements of innovations originating from research and development activities of the National Aeronautics and Space Administration. They emphasize information considered likely to be transferable across industrial, regional, or disciplinary lines and are issued to encourage commercial application. Topics covered include: Measuring Low Concentrations of Liquid Water in Soil; The Mars Science Laboratory Touchdown Test Facility; Non-Contact Measurement of Density and Thickness Variation in Dielectric Materials; Compact Microwave Fourier Spectrum Analyzer; InP Heterojunction Bipolar Transistor Amplifiers to 255 GHz; Combinatorial Generation of Test Suites; In-Phase Power-Combined Frequency Tripler at 300 GHz; Electronic System for Preventing Airport Runway Incursions; Smaller but Fully Functional Backshell for Cable Connector; Glove-Box or Desktop Virtual-Reality System; Composite Layer Manufacturing with Fewer Interruptions; Improved Photoresist Coating for Making CNT Field Emitters; A Simplified Diagnostic Method for Elastomer Bond Durability; Complex Multifunctional Polymer/Carbon-Nanotube Composites; Very High Output Thermoelectric Devices Based on ITO Nanocomposites; Reducing Unsteady Loads on a Piggyback Miniature Submarine; Ultrasonic/Sonic Anchor; Grooved Fuel Rings for Nuclear Thermal Rocket Engines; Pulsed Operation of an Ion Accelerator; Autonomous Instrument Placement for Mars Exploration Rovers; Mission and Assets Database; TCP/IP Interface for the Satellite Orbit Analysis Program (SOAP); Trajectory Calculator for Finite-Radius Cutter on a Lathe; Integrated System Health Management Development Toolkit.

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NASA NTRS2008

FIDO-Class Development Rover

A report describes a rover-type robotic wheeled vehicle recently built for use as a testbed for development of software for future rover-type vehicles. This vehicle is a derivative of the Field Integrated Design and Operations (FIDO) rover, which is a prototype Mars-exploration rover that also serves as a terrestrial testbed. The present vehicle was designed to be nearly functionally identical to the FIDO rover but to be built at much lower cost and to incorporate several improvements to increase utility for development work. Accordingly, considerable effort was made to use commercial off-the-shelf parts and other parts that could be fabricated easily and at low cost. Important features of this vehicle include six-wheel drive and six-wheel steering; onboard computer and power, control, and data-communication electronics having flexibility needed for development of software; significantly increased maximum speed (60 cm/s versus 6 cm/s for the FIDO rover); a rocker-bogey suspension with external differential link, functionally equivalent to that of the FIDO rover; and a hand-held remote controller that can be used to control vehicle motion manually without using the computer (or while waiting for the onboard computer to boot up).

Herman, Herman↗
NASA NTRS2008

Degradation of Victoria Crater, Mars

The $\sim$750 m diameter and $\sim$75 m deep Victoria crater in Meridiani Planum, Mars, presents evidence for significant degradation including a low, serrated, raised rim characterized by alternating alcoves and promontories, a surrounding low relief annulus, and a floor partially covered by dunes. The amount and processes of degradation responsible for the modified appearance of Victoria crater were evaluated using images obtained in situ by the Mars Exploration Rover Opportunity in concert with a digital elevation model created using orbital HiRISE images. Opportunity traversed along the north and northwest rim and annulus, but sufficiently characterized features visible in the DEM to enable detailed measurements of rim relief, ejecta thickness, and wall slopes around the entire degraded, primary impact structure. Victoria retains a 5 m raised rim consisting of 1-2 m of uplifted rocks overlain by 3 m of ejecta at the rim crest. The rim is $\sim$120 to 220 m wide and is surrounded by a dark annulus reaching an average of 590 m beyond the raised rim. Comparison between observed morphology and that expected for pristine craters 500 to 750 m across indicate the original, pristine crater was close to 600 m in diameter. Hence, the crater has been erosionally widened by approximately 150 m and infilled by about 50 m of sediments. Eolian processes are responsible for modification at Victoria, but lesser contributions from mass wasting or other processes cannot be ruled out. Erosion by prevailing winds is most significant along the exposed rim and upper walls and accounts for $\sim$50 m widening across a WNW-ESE diameter. The volume of material eroded from the crater walls and rim is $\sim$20% less than the volume of sediments partially filling the crater, indicating eolian infilling from sources outside the crater over time. The annulus formed when $\sim$1 m deflation of the ejecta created a lag of more resistant hematite spherules that trapped darker, regional basaltic sands.

Wilson, Sharon A.↗
NASA NTRS2008

Mars Reconnaissance Orbiter Uplink Analysis Tool

This software analyzes Mars Reconnaissance Orbiter (MRO) orbital geometry with respect to Mars Exploration Rover (MER) contact windows, and is the first tool of its kind designed specifically to support MRO-MER interface coordination. Prior to this automated tool, this analysis was done manually with Excel and the UNIX command line. In total, the process would take approximately 30 minutes for each analysis. The current automated analysis takes less than 30 seconds. This tool resides on the flight machine and uses a PHP interface that does the entire analysis of the input files and takes into account one-way light time from another input file. Input flies are copied over to the proper directories and are dynamically read into the tool s interface. The user can then choose the corresponding input files based on the time frame desired for analysis. After submission of the Web form, the tool merges the two files into a single, time-ordered listing of events for both spacecraft. The times are converted to the same reference time (Earth Transmit Time) by reading in a light time file and performing the calculations necessary to shift the time formats. The program also has the ability to vary the size of the keep-out window on the main page of the analysis tool by inputting a custom time for padding each MRO event time. The parameters on the form are read in and passed to the second page for analysis. Everything is fully coded in PHP and can be accessed by anyone with access to the machine via Web page. This uplink tool will continue to be used for the duration of the MER mission's needs for X-band uplinks. Future missions also can use the tools to check overflight times as well as potential site observation times. Adaptation of the input files to the proper format, and the window keep-out times, would allow for other analyses. Any operations task that uses the idea of keep-out windows will have a use for this program.

Khanampompan, Teerapat↗
NASA NTRS2008

Image Compression Algorithm Altered to Improve Stereo Ranging

A report discusses a modification of the ICER image-data-compression algorithm to increase the accuracy of ranging computations performed on compressed stereoscopic image pairs captured by cameras aboard the Mars Exploration Rovers. (ICER and variants thereof were discussed in several prior NASA Tech Briefs articles.) Like many image compressors, ICER was designed to minimize a mean-square-error measure of distortion in reconstructed images as a function of the compressed data volume. The present modification of ICER was preceded by formulation of an alternative error measure, an image-quality metric that focuses on stereoscopic-ranging quality and takes account of image-processing steps in the stereoscopic-ranging process. This metric was used in empirical evaluation of bit planes of wavelet-transform subbands that are generated in ICER. The present modification, which is a change in a bit-plane prioritization rule in ICER, was adopted on the basis of this evaluation. This modification changes the order in which image data are encoded, such that when ICER is used for lossy compression, better stereoscopic-ranging results are obtained as a function of the compressed data volume.

Kiely, Aaron↗
NASA NTRS2009

Device Acquires and Retains Rock or Ice Samples

The Rock Baller is a sample acquisition tool that improves sample retention. The basic elements of the Rock Baller are the tool rotation axis, the hub, the two jaws, and the cutting blades, which are located on each of the jaws. The entire device rotates about the tool rotation axis, which is aligned parallel to the nominal normal direction of the parent rock surface. Both jaws also rotate about the jaw axis, which is perpendicular to the tool rotation axis, at a rate much slower than the rotation about the tool rotation axis. This movement gradually closes the jaws into a nearly continuous hemispherical shell that encloses the sample as it is cut from the parent rock. When required the jaws are opened to release the sample. The hemispherical cutting method eliminates the sample retention problems associated with existing sample acquisition methods that employ conventional cylindrical cutting. The resulting samples are hemispherical, or nearly hemispherical, and as a result the aspect ratio (sample depth relative to sample radius) is essentially fixed. This fixed sample aspect ratio may be considered a drawback of the Rock Baller method, as samples with a higher aspect ratio (more depth, less width) may be considered more scientifically valuable because such samples would allow for a broader inspection of the geological record. This aspect ratio issue can be ameliorated if the Rock Baller is paired with a device similar to the Rock Abrasion Tool (RAT) used on the Mars Exploration Rovers. The RAT could be used to first grind into the surface of the parent rock, after which the Rock Baller would extract a sample from a depth inside the rock that would not have been possible without first using the RAT. Other potential applications for this technology include medical applications such as the removal of tissue samples or tumors from the body, particularly during endoscopic, laparoscopic, or thoracoscopic surgeries.

Giersch, Louis R.↗