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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS2013

Adams-Based Rover Terramechanics and Mobility Simulator - ARTEMIS

The Mars Exploration Rovers (MERs), Spirit and Opportunity, far exceeded their original drive distance expectations and have traveled, at the time of this reporting, a combined 29 kilometers across the surface of Mars. The Rover Sequencing and Visualization Program (RSVP), the current program used to plan drives for MERs, is only a kinematic simulator of rover movement. Therefore, rover response to various terrains and soil types cannot be modeled. Although sandbox experiments attempt to model rover-terrain interaction, these experiments are time-intensive and costly, and they cannot be used within the tactical timeline of rover driving. Imaging techniques and hazard avoidance features on MER help to prevent the rover from traveling over dangerous terrains, but mobility issues have shown that these methods are not always sufficient. ARTEMIS, a dynamic modeling tool for MER, allows planned drives to be simulated before commands are sent to the rover. The deformable soils component of this model allows rover-terrain interactions to be simulated to determine if a particular drive path would take the rover over terrain that would induce hazardous levels of slip or sink. When used in the rover drive planning process, dynamic modeling reduces the likelihood of future mobility issues because high-risk areas could be identified before drive commands are sent to the rover, and drives planned over these areas could be rerouted. The ARTEMIS software consists of several components. These include a preprocessor, Digital Elevation Models (DEMs), Adams rover model, wheel and soil parameter files, MSC Adams GUI (commercial), MSC Adams dynamics solver (commercial), terramechanics subroutines (FORTRAN), a contact detection engine, a soil modification engine, and output DEMs of deformed soil. The preprocessor is used to define the terrain (from a DEM) and define the soil parameters for the terrain file. The Adams rover model is placed in this terrain. Wheel and soil parameter files can be altered in the respective text files. The rover model and terrain are viewed in Adams View, the GUI for ARTEMIS. The Adams dynamics solver calls terramechanics subroutines in FORTRAN containing the Bekker-Wong equations.

Trease, Brian P.↗
DOE OSTI2025

Effects of the Inverse Trans-Influence in a Berkelium(III) Phosphine Oxide Complex

An example of a 249 Bk 3+ phosphine oxide complex has been prepared to examine and quantify the effects of the inverse trans-influence (ITI) on a late actinide complex. This has been accomplished through a comparison of cis and trans Bk-ligand bonds in the meridional berkelium(III) complex, BkBr 3 (OPCy 3 ) 3 (OPCy 3 = tricyclohexylphosphine oxide). A detailed bond metric analysis was completed that includes the shortest published distance for a Bk 3+ −O bond, attributed to the smaller coordination number of Bk 3+ of six in mer-BkBr 3 (OPCy 3 ) 3 . ITI calculations of the trans Bk 3+ −O bond provide an ITI value (98.5(2)%) comparable to that of mer-AmBr 3 (OPCy 3 ) 3 (98.2(2)%) and indicate a small 5f orbital contribution to bonding. This effect is discussed in the context of the isomorphous lanthanide(III) series where the ITI is calculated to be higher for mer-BkBr 3 (OPCy 3 ) 3 than in most Ln 3+ analogues.

Actinides↗
DOE OSTI2024

Preventive Power Outage Estimation Based on a Novel Scenario Clustering Strategy

The increasing occurrence of extreme weather events is challenging power grid operation. For extreme weather events, the system operator is responsible for estimating the power outages and scheduling the restoration resources. This paper proposes an outage evaluation framework to identify the possible unserved load profiles, vulnerable areas, and mobile energy adequacy. The outputs of an outage prediction model tool are used to generate numerous faulted line scenarios. Next, each scenario's nodal unserved load profile is obtained by solving a three-phase restoration model that considers repair crews and mobile energy resources (MERs). Then, a novel scenario clustering strategy is developed to cluster the unserved load profiles into multiple representative profiles which the system operator can focus on. Finally, case studies on a distribution system evaluate the damage caused by an extreme weather event and verify the effectiveness of the proposed scenario clustering strategy.

MATHEMATICS AND COMPUTING,POWER TRANSMISSION AND D↗
NASA NTRS2006

Navigation and EDL for the Mars Exploration Rovers

A viewgraph presentation on Deep Space Navigation, and Entry, Decent, and Landing (EDL) for Mars Exploration Rovers is shown. The contents include: 1) JPL Spacecraft Operating across the Solar System; 2) 2003 - 2004: The Busiest Period in JPL's History; 3) Deep Space Navigation Will Enable Many of the New NASA Missions; 4) What Exactly is Navigation vs. GNC for Deep Space?; 5) Cruise and Approach: Why is Deep Space Navigation So Difficult?; 6) Project Importance of GNC: Landing Site Selection; 7) Planetary Communications and Tracking; 8) Tracking Data Types; 9) Delta Differential One-Way Range (deltaDOR); 10) All Solutions Leading up to TCM-4 Design; 11) Entry Flight Path Sensitivities; 12) MER Navigation Results; 13) Atmospheric Entry Targeting and Delivery; 14) Landing Ellipse Orientation; 15) MER Landing Site Trade Example; 16) Entry, Descent and Landing: Entry Guidance or What Things Do We NOT do for MER Landings (but we will later...); 17) Entering Martian Space 8:29 p.m. PST (ERT); 18) Entry, Descent and Landing; 19) Entry, Descent and Landing: Terminal Guidance; 20) The Challenge Going from 12,000 mph to Zero in Less Than Six Minutes; 21) Spirit Landing Location; 22) Entry, Descent and Landing: The Future; 23) Powered Descent Time-Line; and 24) Updated Sky Crane Maneuver Description. A short summary is also given on planetary guidance, navigation and control as it pertains to EDL systems

Mars Exploration Rover (MER)↗
NASA NTRS2004

Terrain Modelling for Immersive Visualization for the Mars Exploration Rovers

Immersive environments are being used to support mission operations at the Jet Propulsion Laboratory. This technology contributed to the Mars Pathfinder Mission in planning sorties for the Sojourner rover and is being used for the Mars Exploration Rover (MER) missions. The stereo imagery captured by the rovers is used to create 3D terrain models, which can be viewed from any angle, to provide a powerful and information rich immersive visualization experience. These technologies contributed heavily to both the mission success and the phenomenal level of public outreach achieved by Mars Pathfinder and MER. This paper will review the utilization of terrain modelling for immersive environments in support of MER.

immersive environments↗
NASA NTRS2011

Development of FIAT-based Thermal Protection System Mass Estimating Relationships for NASA's Multi-Mission Earth Entry Concep

Mass Estimating Relationships (MERs) have been developed for use in the Program to Optimize Simulated Trajectories II (POST2) as part of NASA's multi-mission Earth Entry Vehicle (MMEEV) concept. MERs have been developed for the thermal protection systems of PICA and of Carbon Phenolic atop Advanced Carbon-Carbon on the forebody and for SIRCA and Acusil II on the backshell. How these MERs were developed, the resulting equations, model limitations, and model accuracy are discussed herein.

MER↗
NASA NTRS2014

Testing Mars Exploration Rover-Inspired Operational Strategies for Semi-Autonomous Rovers on the Moon Ii: the GeoHeuristic Operational Strategies Test in Alaska

We used MER-derived semi-autonomous rover science operations strategies to determine best practices suitable for remote semi-autonomous lunar rover geology. Two field teams studied two glacial moraines as analogs for potential ice-bearing lunar regolith. At each site a Rover Team commanded a human rover to execute observations based on common MER sequences; the resulting data were used to identify and characterize targets of interest. A Tiger Team followed the Rover Team using traditional terrestrial field methods, and the results of the two teams were compared. Narrowly defined goals that can be addressed using cm-scale or coarser resolution may be met sufficiently by the operational strategies adapted from MER survey mode. When reconnaissance is the primary goal, the strategies tested are necessary but not sufficient. Further, there may be a set of optimal observations for such narrowly defined, hypothesis-driven science goals, such that collecting further data would result in diminishing returns. We confirm results of previous tests that indicated systematic observations might improve efficiency during strategic planning, and improve science output during data analysis. This strategy does not markedly improve the rate at which a science team can ingest data to feed back into tactical decision-making. Other methods should be tested to separate the strategic and tactical processes, and to build in time for data analysis.

MER↗
NASA NTRSDate not supplied

Comparison of Pre- and Post-Flight Estimations of Pitch Damping Coefficients for Unguided Entry Vehicles

Introduction: Pre-flight predictions of pitch damping coefficient (𝐶!!+𝐶!"̇)curves are used in entry simulations to determine flight readiness and if any dynamic remediation strategies are required. Accurate characterization of these pitch damping coefficient curves is crucial for mission success. Historically, pre-flight estimations of these curves are derived experimentally either via ballistic range testing or with 1-degree-of-freedom (DOF) free-or forced-oscillation wind tunnel testing. Methodology:With post-flight best-estimated trajectories, a fitting procedure as described in Karlgaard, et. al. [1] is used to compare pre-and post-flight pitch damping coefficients. This technique relies on an assumed analytical form of the trajectory, a limited 3-DOF representation described in Schoenenbergerand Queen [2], which results in anEuler-Cauchy solution form.This solution assumes constant density,thus limited amplitude multi-peak windows of the trajectory are considered to populate the pitch damping-amplitudes pace. Fig. 1 shows preliminary estimations of the pitch damping coefficients estimated using the post-flight best estimated trajectoryfor MER B, using a3-amplitude-peak window. Important to note is that the Euler-Cauchy solution also assumes planar motion, thus coning or 𝛽contribution is not included. Further,the estimated post-flight pitch damping approximations and the pre-flight predictions shown are effective representations of pitch damping, or the integrated effect of the pitch damping coefficient over one pitch cycle at the corresponding cycle’s peak amplitude. Effective pitch damping coefficient curves provide more intuitive insights about where the vehicle is stable and permits readily processed comparisons between data-sets. It is important to note that most pitch damping curves, such as those reported in aerodatabases and utilized in flight mechanics trajectory simulations, are represented in instantaneous angle-of-attack space distinct from what is presented in Fig 1. The extracted post-flight pitch damping coefficient points show a wide range of values across a narrow band of amplitudes (Fig.1a), albeit centered on the published pre-flight approximation. This also applies to the prediction as a function of Mach in Fig1b, where the post-flight scatter points are centered around the pre-flight predictions, but the pre-flight predictions notably lack data aboveMach 5.Further tuning of the technique, such as changing the number of peaks considered in each stencil, resolving density in higher resolution, and employing more accurate fitting procedures (beyond scipy.curve_fit()), will be performed. PosterFocus:This study will apply this reconstruction method to the as-flown trajectories for the following unguided entry vehicles: MER A, MER B, IRVE3, Phoenix, Insight, Pathfinder, and SIAD. The pitch damping coefficient will be derived from these trajectories and compared with the pre-flight predictions. Comparing across different missions, entry environments, and vehicle geometries can inform where our pre-flight testing methodologies accurately capture the flight dynamics. Results will provide valuable insight into the accuracy of pre-flight predicted pitch damping curves. Beyond that, this method can shed light on how accurate these curves need to be, which can inform uncertainty ranges applied to pre-flight curves for other missions.

pitch damping coefficient↗
DOE OSTI2023

Double Intramolecular 1,2 C–H Addition of o -Methyl Groups To Form Ruthenium Pincer Double Tuck-In Complexes

Ruthenium pincer complexes have a rich history of coordination and reaction chemistries. In this work, we report our discoveries of previously unreported Ru pincer coordination geometries. We found that mono tuck-in κ 4 -ArPN H PRuLCl complexes react with NaN(SiMe 3 ) 2 producing double tuck-in mer-κ 5 -ArPN H PRuL complexes. Interestingly, when κ 4 -MesPN H PRuCl is dehydrohalogenated, the resulting double tuck-in complex binds N 2 , forming the nitrogen complex κ 5 -MesPN H PRuN 2 . Further, the mer-κ 5 -ArPN H PRuL complexes thermally isomerize to the fac-κ 5 -ArPN H PRuL isomers, which is an uncommon reaction for pincer complexes. The mer-κ 5 -ArPN H PRuL complexes react with CO and CO 2 to form amide κ 4 -ArPN H PRu(CO)L or carbamate κ 5 -ArPN(CO 2 )PRuL complexes, respectively, supporting the hypothesis that the κ 4 -ArPNPRuL amide intermediates are accessible and reactive.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2021

Molecular mechanism of secreted amyloid-β precursor protein in binding and modulating GABABR1a

A recent phenomenal study discovered that the extension domain of secreted amyloid-β precursor protein (sAPP) can bind to the intrinsically disordered sushi 1 domain of the γ-aminobutyric acid type B receptor subunit 1a (GABA B R1a) and modulate its synaptic transmission. The work provided an important structural foundation for the modulation of GABA B R1a; however, the detailed molecular interaction mechanism, crucial for future drug design, remains elusive. Here, we further investigated the dynamical interactions between sAPP peptides and the natively unstructured sushi 1 domain using all-atom molecular dynamics simulations, for both the 17-residue sAPP peptide (APP 17-mer) and its minimally active 9 residue segment (APP 9-mer). We then explored mutations of the APP 9-mer with rigorous free energy perturbation (FEP) calculations. Our in silico mutagenesis studies revealed key residues (D4, W6, and W7) responsible for the binding with the sushi 1 domain. More importantly, one double mutation based on different vertebrate APP sequences from evolution exhibited a stronger binding (ΔΔG = -1.91 ± 0.66 kcal mol -1 ), indicating a potentially enhanced GABA B R1a modulator. These large-scale simulations may provide new insights into the binding mechanism between sAPP and the sushi 1 domain, which could open new avenues in the development of future GABA B R1a-specific therapeutics.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2023

Pseudomonas aeruginosa Dps (PA0962) Functions in H 2 O 2 Mediated Oxidative Stress Defense and Exhibits In Vitro DNA Cleaving Activity

We report the structural, biochemical, and functional characterization of the product of gene PA0962 from Pseudomonas aeruginosa PAO1. The protein, termed Pa Dps, adopts the Dps subunit fold and oligomerizes into a nearly spherical 12-mer quaternary structure at pH 6.0 or in the presence of divalent cations at neutral pH and above. The 12-Mer Pa Dps contains two di-iron centers at the interface of each subunit dimer, coordinated by conserved His, Glu, and Asp residues. In vitro, the di-iron centers catalyze the oxidation of Fe 2+ utilizing H 2 O 2 (not O 2 ) as an oxidant, suggesting Pa Dps functions to aid P. aeruginosa to survive H 2 O 2 -mediated oxidative stress. In agreement, a P. aeruginosa Δdps mutant is significantly more susceptible to H 2 O 2 than the parent strain. The Pa Dps structure harbors a novel network of Tyr residues at the interface of each subunit dimer between the two di-iron centers, which captures radicals generated during Fe 2+ oxidation at the ferroxidase centers and forms di-tyrosine linkages, thus effectively trapping the radicals within the Dps shell. Surprisingly, incubating Pa Dps and DNA revealed unprecedented DNA cleaving activity that is independent of H 2 O 2 or O 2 but requires divalent cations and 12-mer Pa Dps.

59 BASIC BIOLOGICAL SCIENCES↗
NASA NTRS2000

Fluorescence Studies of Protein Crystal Nucleation

We have postulated that, in the case of tetragonal chicken egg white lysozyme, crystal growth occurs by the addition of pre-critical nuclei sized n-mers that form in the bulk solution, and that the n-mer growth units were multiples of the tetrameric 4(sub 3) helical structure. These have the strongest intermolecular bonds in the crystal and are therefore likely to be the first species formed. High resolution AFM studies provide strong supporting evidence for this model, but the data also suggest that the actual species in solution may not be identical in structure to that found in the crystal. We are using fluorescence resonance energy transfer (FRET) to study the initial solution phase self-assembly process, using covalent fluorescent derivatives which crystallize in the characteristic P4(sub 3)2(sub 1)2(sub 1) space group. FRET studies are being carried out between the cascade blue (CB-lys, donor, Ex(sub max) 366 nm, Em 420 nm) and lucifer yellow (LY-lys, acceptor, Ex(sub max) 430 nm, Em 528 nm) asp101 derivatives. The estimated R(sub 0) for this probe pair, the distance where 50% of the donor energy is transferred to the acceptor, is approx. 1.2 nm, compared to 2.2 nm between the side chain carboxyls of adjacent asp101's in the crystalline 4(sub 3) helix. The short donor lifetime of 2.80 ns (chi(sup 2) = 0.644), coupled with the large average distances between the molecules (greater than or equal to 50 nm) in solution, ensure that any energy transfer observed is not due to random diffusive interactions. Lifetime data show that CB-lys has a single lifetime when it is the only species in solution. Similarly, LY-lys also exhibits a single lifetime of 4.63 ns (chi(sup 2) = 0.42) when alone in solution. Addition of LY-lys to CB-lys results in the appearance of a third lifetime component of 0.348ns for the CB-lys. The fractional intensities of the different species present can be used to estimate the distribution of monomer and n-mers in solution. The self-association process is a function of the protein concentration relative to the saturation concentration, and observing it in dilute solution (conc. less than or equal to 10(exp -5)M) requires that the experiments be performed under low solubility conditions, i.e., low temperatures and high salt concentrations. Data from preliminary steady state FRET studies with N-terminal bound pyrene acetic acid (PAA-lys, donor, Ex 340 nm, Em 376 nm) and asp101 LY-lys as an acceptor showed a consistent trend of decreasing donor fluorescence intensity with increasing total protein concentration. The FRET data have been obtained at pH 4.6, 0.1M NaAc buffer, at 5 and 7% NaCl, 4 C. The corresponding C(sub sat) values are 0.471 and 0.362 mg/ml (approx. 3.3 and approx. 2.5 x 10(exp -5)M respectively). The donor fluorescence decrease is more pronounced at7% NaCl, consistent with the expected increased intermolecular interactions at higher salt concentrations as reflected in the lower solubility. Results from these and other ongoing studies will be discussed in conjunction with an emerging model for how tetragonal lysozyme crystals nucleate and the relevance of that model to other proteins.

Pusey, Marc↗
NASA NTRS2001

Accessing Martian Fluvial and Lacustrine Sediments by Landing in Holden Crater, Margaritifer Sinus

Rover missions to the surface of Mars after MER 2003, are likely to be centered around focused geologic field mapping. One objective with high priority in selecting landing sites for these missions will be to characterize the nature, spatial distribution, internal structure, composition, and depositional history of exposed sedimentary layered deposits by visiting a number of distributed outcrops identified previously (and with a high degree of certainty) from orbit. These deposits may contain prebiotic material, even fossil organisms, but their primary value will be to enable an assessment of the planet's climate at the time they were emplaced. High resolution imaging from a mobile rover will enable the detailed study of these deposits over a wide area, their internal structure and mineralogy at distributed localities, and could resolve biologically-derived structures (such as stromatolite-like textures) if they are present. With the addition of a spectrometer, it should be possible to ascertain the presence of carbonates, sulfates, organics, water (liquid, frost, and bound water), as well as a variety of silicate minerals in the context of the collected imagery. Such a mission approach is directly relevant to future exploration of Mars, because it provides the geologic context comparable to what a field geologist visiting a site for the first time would acquire. Rover missions after MER will likely have much better targeting and hazard avoidance landing systems, enabling access to planimetrically-challenged sites of high scientific interest. These vehicles will also likely have greater mobility than MER, capable of driving greater distances in a shorter amount of time. Many scientists and mission planners have realized the need to design a rover whose mobility can be comparable to the dimensions of its 3-sigma landing error ellipse.

Parker, T. J.↗
NASA NTRS2002

Arc Jet Testing of the TIRS Cover Thermal Protection System for Mars Exploration Rover

This paper summarizes the arc jet test results of the Mars Exploration Rover (MER) Silicone Impregnated Reusable Ceramic Ablator (SIRCA) Transverse Impulse Rocket System (TIRS) Cover test series in the Panel Test Facility (PTF) at NASA Ames Research Center (ARC). NASA ARC performed aerothermal environment analyses, TPS sizing and thermal response analyses, and arc jet testing to evaluate the MER SIRCA TIRS Cover design and interface to the aeroshell structure. The primary objective of this arc jet test series was to evaluate specific design details of the SIRCA TIRS Cover interface to the MER aeroshell under simulated atmospheric entry heating conditions. Four test articles were tested in an arc jet environment with various sea] configurations. The test condition was designed to match the predicted peak flight heat load at the gap region between the SIRCA and the backshell TPS material, SLA-561S, and resulted in an over-test (with respect to heat flux and heat load) for the apex region of the SIRCA TIRS Cover. The resulting pressure differential was as much as twenty times that predicted for the flight case, depending on the location, and there was no post-test visual evidence of over-heating or damage to the seal, bracket, or backshell structure. The exposed titanium bolts were in good condition at post-test and showed only a small amount of oxidation at the leading edge locations. Repeatable thermocouple data were obtained and SIRCA thermal response analyses were compared to applicable thermocouple data. For the apex region of the SIRCA TIRS Cover, a one-dimensional thermal response prediction proved overly conservative, as there were strong multi-dimensional conduction effects evident from the thermocouple data. The one-dimensional thermal response prediction compared well with the thermocouple data for the leading edge "lip" region at the bolt location. In general, the test results yield confidence in the baseline seal design to prevent hot gas ingestion at the bracket and composite aeroshell structure interface.

Szalai, Christine E.↗
NASA NTRS2003

The Athena Microscopic Imager Investigation

The Athena science payload on the Mars Exploration Rovers (MER) includes the Microscopic Imager (MI) [1]. The MI is a fixed-focus camera mounted on the end of an extendable instrument arm, the Instrument Deployment Device (IDD; see Figure 1).The MI was designed to acquire images at a spatial resolution of 30 microns/pixel over a broad spectral range (400 - 700 nm; see Table 1). Technically, the microscopic imager is not a microscope: it has a fixed magnification of 0.4 and is intended to produce images that simulate a geologist s view through a common hand lens. In photographers parlance, the system makes use of a macro lens. The MI uses the same electronics design as the other MER cameras [2, 3] but has optics that yield a field of view of 31 31 mm across a 1024 1024 pixel CCD image (Figure 2). The MI acquires images using only solar or skylightillumination of the target surface. A contact sensor is used to place the MI slightly closer to the target surface than its best focus distance (about 66 mm), allowing concave surfaces to be imaged in good focus. Because the MI has a relatively small depth of field (3 mm), a single MI image of a rough surface will contain both focused and unfocused areas. Coarse focusing will be achieved by moving the IDD away from a rock target after the contact sensor is activated. Multiple images taken at various distances will be acquired to ensure good focus on all parts of rough surfaces. By combining a set of images acquired in this way, a completely focused image can be assembled. Stereoscopic observations can be obtained by moving the MI laterally relative to its boresight. Estimates of the position and orientation of the MI for each acquired image will be stored in the rover computer and returned to Earth with the image data. The MI optics will be protected from the Martian environment by a retractable dust cover. The dust cover includes a Kapton window that is tinted orange to restrict the spectral bandpass to 500-700 nm, allowing color information to be obtained by taking images with the dust cover open and closed. The MI will image the same materials measured by other Athena instruments (including surfaces prepared by the Rock Abrasion Tool), as well as rock and soil targets of opportunity. Subsets of the full image array can be selected and/or pixels can be binned to reduce data volume. Image compression will be used to maximize the information contained in the data returned to Earth. The resulting MI data will place other MER instrument data in context and aid in petrologic and geologic interpretations of rocks and soils on Mars.

K E Herkenhoff↗
NASA NTRS2003

Mars Exploration Rover Landing Site Boulder Fields

As an aid in constraining the rock size-frequency distributions at the Mars Exploration Rover (MER) landing sites, Mars Orbiter Camera (MOC) images of all potential MER landing sites were systematically searched for boulder fields. Low-Sun angle MOC images can be used to identify boulders larger than 1.5 m diameter, which can be used to determine the shape of the rock size-frequency distributions. These distributions can be compared with the rock size-frequency distributions measured at the Viking and Mars Pathfinder landing sites to better quantify potentially hazardous rocks at the MER landing sites.

Schroeder, R. D.↗
NASA NTRS2004

First Results of the Athena Microscopic Imager Investigation

The Athena science payload on the Mars Exploration Rovers (MER) includes the Microscopic Imager (MI). The MI is a fixed-focus camera mounted on an extendable arm, the Instrument Deployment Device (IDD). The MI acquires images at a spatial resolution of 30 microns/pixel over a broad spectral range (400 - 700 nm). The MI uses the same electronics design as the other MER cameras but its optics yield a field of view of 31 x 31 mm across a 1024 x 1024 pixel CCD image. The MI acquires images using only solar or skylight illumination of the target surface. A contact sensor is used to place the MI slightly closer to the target surface than its best focus distance (about 69 mm), allowing concave surfaces to be imaged in good focus. Coarse focusing (approx. 2 mm precision) is achieved by moving the IDD away from a rock target after contact is sensed. The MI optics are protected from the Martian environment by a retractable dust cover. This cover includes a Kapton window that is tinted orange to restrict the spectral bandpass to 500 - 700 nm, allowing crude color information to be obtained by acquiring images with the cover open and closed. The MI science objectives, instrument design and calibration, operation, and data processing were described by Herkenhoff et al. Initial results of the MI experiment on both MER rovers ('Spirit' and 'Opportunity') are described below.

Herkenhoff, K.↗
NASA NTRS2004

The Challenges of Designing the Rocker-Bogie Suspension for the Mars Exploration Rover

Over the past decade, the rocker-bogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacle-climbing capability. Following several technology and research rover implementations, the system was successfully flown as part of Mars Pathfinder s Sojourner rover. When the Mars Exploration Rover (MER) Project was first proposed, the use of a rocker-bogie suspension was the obvious choice due to its extensive heritage. The challenge posed by MER was to design a lightweight rocker-bogie suspension that would permit the mobility to stow within the limited space available and deploy into a configuration that the rover could then safely use to egress from the lander and explore the Martian surface. This paper will describe how the MER rocker-bogie suspension subsystem was able to meet these conflicting design requirements while highlighting the variety of deployment and latch mechanisms employed in the design.

Harrington, Brian D.↗