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At least 199 records · Page 11

Visual Target Tracking on the Mars Exploration Rovers

Visual Target Tracking (VTT) has been implemented in the new Mars Exploration Rover (MER) Flight Software (FSW) R9.2 release, which is now running on both Spirit and Opportunity rovers. Applying the normalized cross-correlation (NCC) algorithm with template image magnification and roll compensation on MER Navcam images, VTT tracks the target and enables the rover to approach the target within a few cm over a 10 m traverse. Each VTT update takes 1/2 to 1 minute on the rovers, 2-3 times faster than one Visual Odometry (Visodom) update. VTT is a key element to achieve a target approach and instrument placement over a 10-m run in a single sol in contrast to the original baseline of 3 sols. VTT has been integrated into the MER FSW so that it can operate with any combination of blind driving, Autonomous Navigation (Autonav) with hazard avoidance, and Visodom. VTT can either guide the rover towards the target or simply image the target as the rover drives by. Three recent VTT operational checkouts on Opportunity were all successful, tracking the selected target reliably within a few pixels.

target approach↗

Supporting Increased Autonomy for a Mars Rover

This paper presents an architecture and a set of technology for performing autonomous science and commanding for a planetary rover. The MER rovers have outperformed all expectations by lasting over 1100 sols (or Martian days), which is an order of magnitude longer than their original mission goal. The longevity of these vehicles will have significant effects on future mission goals, such as objectives for the Mars Science Laboratory rover mission (scheduled to fly in 2009) and the Astrobiology Field Lab rover mission (scheduled to potentially fly in 2016). Common objectives for future rover missions to Mars include the handling of opportunistic science, long-range or multi-sol driving, and onboard fault diagnosis and recovery. To handle these goals, a number of new technologies have been developed and integrated as part of the CLARAty architecture. CLARAty is a unified and reusable robotic architecture that was designed to simplify the integration, testing and maturation of robotic technologies for future missions. This paper focuses on technology comprising the CLARAty Decision Layer, which was designed to support and validate high-level autonomy technologies, such as automated planning and scheduling and onboard data analysis.

autonomous science↗

Mission Operations of the Mars Exploration Rovers

A document describes a system of processes involved in planning, commanding, and monitoring operations of the rovers Spirit and Opportunity of the Mars Exploration Rover mission. The system is designed to minimize command turnaround time, given that inherent uncertainties in terrain conditions and in successful completion of planned landed spacecraft motions preclude planning of some spacecraft activities until the results of prior activities are known by the ground-based operations team. The processes are partitioned into those (designated as tactical) that must be tied to the Martian clock and those (designated strategic) that can, without loss, be completed in a more leisurely fashion. The tactical processes include assessment of downlinked data, refinement and validation of activity plans, sequencing of commands, and integration and validation of sequences. Strategic processes include communications planning and generation of long-term activity plans. The primary benefit of this partition is to enable the tactical portion of the team to focus solely on tasks that contribute directly to meeting the deadlines for commanding the rover s each sol (1 sol = 1 Martian day) - achieving a turnaround time of 18 hours or less, while facilitating strategic team interactions with other organizations that do not work on a Mars time schedule.

Bass, Deborah↗

The Effects of the Mars Exploration Rovers (MER) Work Schedule Regime on Locomotor Activity Circadian Rhythms, Sleep and Fatigue

This study assessed human adaptation to a Mars sol by evaluating sleep metrics obtained by actigraphy and subjective responses in 22 participants, and circadian rhythmicity in locomotor activity in 9 participants assigned to Mars Exploration Rover (MER) operational work schedules (24.65 hour days) at the Jet Propulsion Laboratory in 2004. During MER operations, increased work shift durations and reduced sleep durations and time in bed were associated with the appearance of pronounced 12-hr (circasemidian) rhythms with reduced activity levels. Sleep duration, workload, and circadian rhythm stability have important implications for adaptability and maintenance of operational performance not only of MER operations personnel but also in space crews exposed to a Mars sol of 24.65 hours during future Mars missions.

DeRoshia, Charles W.↗

High-Temperature Surface-Acoustic-Wave Transducer

Aircraft-engine rotating equipment usually operates at high temperature and stress. Non-invasive inspection of microcracks in those components poses a challenge for the non-destructive evaluation community. A low-profile ultrasonic guided wave sensor can detect cracks in situ. The key feature of the sensor is that it should withstand high temperatures and excite strong surface wave energy to inspect surface/subsurface cracks. As far as the innovators know at the time of this reporting, there is no existing sensor that is mounted to the rotor disks for crack inspection; the most often used technology includes fluorescent penetrant inspection or eddy-current probes for disassembled part inspection. An efficient, high-temperature, low-profile surface acoustic wave transducer design has been identified and tested for nondestructive evaluation of structures or materials. The development is a Sol-Gel bismuth titanate-based surface-acoustic-wave (SAW) sensor that can generate efficient surface acoustic waves for crack inspection. The produced sensor is very thin (submillimeter), and can generate surface waves up to 540 C. Finite element analysis of the SAW transducer design was performed to predict the sensor behavior, and experimental studies confirmed the results. One major uniqueness of the Sol-Gel bismuth titanate SAW sensor is that it is easy to implement to structures of various shapes. With a spray coating process, the sensor can be applied to surfaces of large curvatures. Second, the sensor is very thin (as a coating) and has very minimal effect on airflow or rotating equipment imbalance. Third, it can withstand temperatures up to 530 C, which is very useful for engine applications where high temperature is an issue.

Zhao, Xiaoliang↗

Safety Arguments for Next Generation, Location Aware Computing

Concerns over accuracy, availability, integrity, and continuity have limited the integration of Global Positioning System (GPS) and Global Navigation Satellite System (GLONASS) for safety-critical applications. More recent augmentation systems, such as the European Geostationary Navigation Overlay Service (EGNOS) and the North American Wide Area Augmentation System (WAAS) have begun to address these concerns. Augmentation architectures build on the existing GPS/GLONASS infrastructures to support location based services in Safety of Life (SoL) applications. Much of the technical development has been directed by air traffic management requirements, in anticipation of the more extensive support to be offered by GPS III and Galileo. WAAS has already been approved to provide vertical guidance for aviation applications. During the next twelve months, the full certification of EGNOS for SoL applications is expected. This paper discusses similarities and differences between the safety assessment techniques used in Europe and North America.

Johnson, C. W.↗

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.↗

Redefining Tactical Operations for MER Using Cloud Computing

The Mars Exploration Rover Mission (MER) includes the twin rovers, Spirit and Opportunity, which have been performing geological research and surface exploration since early 2004. The rovers' durability well beyond their original prime mission (90 sols or Martian days) has allowed them to be a valuable platform for scientific research for well over 2000 sols, but as a by-product it has produced new challenges in providing efficient and cost-effective tactical operational planning. An early stage process adaptation was the move to distributed operations as mission scientists returned to their places of work in the summer of 2004, but they would still came together via teleconference and connected software to plan rover activities a few times a week. This distributed model has worked well since, but it requires the purchase, operation, and maintenance of a dedicated infrastructure at the Jet Propulsion Laboratory. This server infrastructure is costly to operate and the periodic nature of its usage (typically heavy usage for 8 hours every 2 days) has made moving to a cloud based tactical infrastructure an extremely tempting proposition. In this paper we will review both past and current implementations of the tactical planning application focusing on remote plan saving and discuss the unique challenges present with long-latency, distributed operations. We then detail the motivations behind our move to cloud based computing services and as well as our system design and implementation. We will discuss security and reliability concerns and how they were addressed

Mars↗

Qualification of Engineering Camera for Long-Duration Deep Space Missions

Qualification and verification of advanced electronic packaging and interconnect technologies, and various other types of hardware elements for the Mars Exploration Rover s Spirit and Opportunity (MER)/Mars Science Laboratory (MSL) flight projects, has been performed to enhance the mission assurance. The qualification of hardware (engineering camera) under extreme cold temperatures has been performed with reference to various Mars-related project requirements. The flight-like packages, sensors, and subassemblies have been selected for the study to survive three times the total number of expected diurnal temperature cycles resulting from all environmental and operational exposures occurring over the life of the flight hardware, including all relevant manufacturing, ground operations, and mission phases. Qualification has been performed by subjecting above flight-like hardware to the environmental temperature extremes, and assessing any structural failures or degradation in electrical performance due to either overstress or thermal cycle fatigue. Engineering camera packaging designs, charge-coupled devices (CCDs), and temperature sensors were successfully qualified for MER and MSL per JPL design principles. Package failures were observed during qualification processes and the package redesigns were then made to enhance the reliability and subsequent mission assurance. These results show the technology certainly is promising for MSL, and especially for longterm extreme temperature missions to the extreme temperature conditions. The engineering camera has been completely qualified for the MSL project, with the proven ability to survive on Mars for 2010 sols, or 670 sols times three. Finally, the camera continued to be functional, even after 2010 thermal cycles.

Ramesham, Rajeshuni↗

Integrated Results from Analysis of the Rocknest Aeolian Deposit by the Curiosity Rover

The Mars Science Laboratory Curiosity rover spent 45 sols (from sol 56-101) at an area called Rocknest (Fig. 1), characterizing local geology and ingesting its aeolian fines into the analytical instruments CheMin and SAM for mineralogical and chemical analysis. Many abstracts at this meeting present the contextual information and detailed data on these first solid samples analyzed in detail by Curiosity at Rocknest. Here, we present an integrated view of the results from Rocknest - the general agreement from discussions among the entire MSL Science Team.

Leshin, L. A.↗

Rover Low Gain Antenna Qualification for Deep Space Thermal Environments

A method to qualify the Rover Low Gain Antenna (RLGA) for use during the Mars Science Laboratory (MSL) mission has been devised. The RLGA antenna must survive all ground operations, plus the nominal 670 Martian sol mission that includes the summer and winter seasons of the Mars thermal environment. This qualification effort was performed to verify that the RLGA design, its bonding, and packaging processes are adequate. The qualification test was designed to demonstrate a survival life of three times more than all expected ground testing, plus a nominal 670 Martian sol missions. Baseline RF tests and a visual inspection were performed on the RLGA hardware before the start of the qualification test. Functional intermittent RF tests were performed during thermal chamber breaks over the course of the complete qualification test. For the return loss measurements, the RLGA antenna was moved to a test area. A vector network analyzer was calibrated over the operational frequency range of the antenna. For the RLGA, a simple return loss measurement was performed. A total of 2,010 (3 670 or 3 times mission thermal cycles) thermal cycles was performed. Visual inspection of the RLGA hardware did not show any anomalies due to the thermal cycling. The return loss measurement results of the RLGA antenna after the PQV (Package Qualification and Verification) test did not show any anomalies. The antenna pattern data taken before and after the PQV test at the uplink and downlink frequencies were unchanged. Therefore, the developed design of RLGA is qualified for a long-duration MSL mission.

Ramesham, Rajeshuni↗

Qualification of UHF Antenna for Extreme Martian Thermal Environments

The purpose of this development was to validate the use of the external Rover Ultra High Frequency (RUHF) antenna for space under extreme thermal environments to be encountered during the surface operations of the Mars Science Laboratory (MSL) mission. The antenna must survive all ground operations plus the nominal 670 Martian sol mission that includes summer and winter seasons of the Mars thermal environment.The qualification effort was to verify that the RUHF antenna design and its bonding and packaging processes are adequate to survive the harsh environmental conditions. The RUHF is a quadrifilar helix antenna mounted on the MSL Curiosity rover deck. The main components of the RUHF antenna are the helix structure, feed cables, and hybrid coupler, and the high-power termination load. In the case of MSL rover externally mounted hardware, not only are the expected thermal cycle depths severe, but there are temperature offsets between the Mars summer and winter seasons. The total number of temperature cycles needed to be split into two regimes of summer cycles and winter cycles. The qualification test was designed to demonstrate a survival life of three times more than all expected ground testing, plus a nominal 670 Martian sol missions. Baseline RF tests and a visual inspection were performed prior to the start of the qualification test. Functional RF tests were performed intermittently during chamber breaks over the course of the qualification test. For the RF return loss measurements, the antenna was tested in a controlled environment outside the thermal chamber with a vector network analyzer that was calibrated over the antenna s operational frequency range. A total of 2,010 thermal cycles were performed. Visual inspection showed a dulling of the solder material. This change will not affect the performance of the antenna. No other changes were observed. RF tests were performed on the RUHF helix antenna, hybrid, and load after the 2,010 qualification cycles test. The RF performance of the RUHF antenna, hybrid, and load were almost identical before and after the complete test. Therefore, the developed design of RUHF is qualified for a long-duration MSL mission. The RUHF antenna has not been used for long-duration missions such as MSL in the past. The state-of-the-art technology of the RUHF antenna is used to develop the antennas for MSL mission survivability. This developmental test data provides the confidence in using this RUHF antenna for future NASA missions to Mars.

Ramesham, Rajeshuni↗

Centimeter to Decimeter Size Spherical and Cylindrical Features in Gale Crater Sediments

The Curiosity rover traverse in Gale crater has explored a large series of sedimentary deposits in an ancient lake on Mars. Over the nine kilometers of traverse a recurrent observation has been southward-dipping sedimentary strata, from Shaler at the edge of Yellowknife Bay to the striated units near the Kimberley. Within the sedimentary strata cm- to decimeter- size hollow spheroidal objects and some apparent cylindrical objects have been observed. These features have not been seen by previous landed missions. The first of these were observed on sol 122 in the Gillespie Lake member at Yellowknife Bay. Additional hollow features were observed in the Point Lake outcrop in the same area. More recently a spherical and apparently hollow object, Winnipesaukee, was observed by ChemCam and Mastcam on sol 653. Here we describe the settings, morphology, and associated compositions, and we discuss possible origins of these objects.

Wiens, R. C.↗

Diagenetic Crystal Clusters and Dendrites, Lower Mount Sharp, Gale Crater

Since approximately Sol 753 (to sol 840+) the Mars Science Laboratory Curiosity rover has been investigating the Pahrump locality. Mapping of HiRise images suggests that the Pahrup locality represents the first occurrence of strata associated with basal Mount Sharp. Considerable efforts have been made to document the Pahrump locality in detail, in order to constrain both depositional and diagenetic facies. The Pahrump succession consists of approximately 13 meters of recessive-weathering mudstone interbedded with thin (decimeter-scale) intervals of more erosionally resistant mudstone, and crossbedded sandstone in the upper stratigraphic levels. Mudstone textures vary from massive, to poorly laminated, to well-laminated. Here we investigate the distribution and structure of unusual diagenetic features that occur in the lowermost portion of the Pahrump section. These diagenetic features consist of three dimensional crystal clusters and dendrites that are erosionally resistant with respect to the host rock.

Kah, L. C.↗

Ceramic Composite Thin Films

A ceramic composite thin film or layer includes individual graphene oxide and/or electrically conductive graphene sheets dispersed in a ceramic (e.g. silica) matrix. The thin film or layer can be electrically conductive film or layer depending the amount of graphene sheets present. The composite films or layers are transparent, chemically inert and compatible with both glass and hydrophilic SiOx/silicon substrates. The composite film or layer can be produced by making a suspension of graphene oxide sheet fragments, introducing a silica-precursor or silica to the suspension to form a sol, depositing the sol on a substrate as thin film or layer, at least partially reducing the graphene oxide sheets to conductive graphene sheets, and thermally consolidating the thin film or layer to form a silica matrix in which the graphene oxide and/or graphene sheets are dispersed.

Ruoff, Rodney S.↗

Mars Exploration Rover Spirit End of Mission Report

The Mars Exploration Rover (MER) Spirit landed in Gusev crater on Mars on January 4, 2004, for a prime mission designed to last three months (90 sols). After more than six years operating on the surface of Mars, the last communication received from Spirit occurred on Sol 2210 (March 22, 2010). Following the loss of signal, the Mars Exploration Rover Project radiated over 1400 commands to Mars in an attempt to elicit a response from the rover. Attempts were made utilizing Deep Space Network X-Band and UHF relay via both Mars Odyssey and the Mars Reconnaissance Orbiter. Search and recovery efforts concluded on July 13, 2011. It is the MER project's assessment that Spirit succumbed to the extreme environmental conditions experienced during its fourth winter on Mars. Focusing on the time period from the end of the third Martian winter through the fourth winter and end of recovery activities, this report describes possible explanations for the loss of the vehicle and the extent of recovery efforts that were performed. It offers lessons learned and provides an overall mission summary.

Callas, John L.↗

Process for Preparing Epoxy-Reinforced Silica Aerogels

One-pot reaction process for preparing epoxy-reinforced monolithic silica aerogels comprising the reaction of at least one silicon compound selected from the group consisting of alkoxysilanes, orthosilicates and combination thereof in any ratio with effective amounts of an epoxy monomer and an aminoalkoxy silane to obtain an epoxy monomer-silica sol in solution, subsequently preparing an epoxy-monomer silica gel from said silica sol solution followed by initiating polymerization of the epoxy monomer to obtain the epoxy-reinforced monolithic silica aerogel.

Meador, Mary Ann B↗

Acid-Sulfate Alteration at Gusev Crater and Across Mars: High-SiO2 Residues and Ferric Sulfate Precipitates

The Mars Exploration Rover Spirit ended its mission in Gusev crater on sol 2210 after it had become stuck in a deposit of fined-grained and sulfate rich soil with dust covered solar panels unfavorably pointed toward the sun. Final analysis of remaining data from Spirit's Moessbauer spectrometer (Fe redox and mineralogy) for sols 1529 through 2071 is now complete. We focus here on chemical (APXS) and MB data for targets having high-SiO2 or high-SO3 and process link the targets through mixing and geochemical modelling to an acid-sulfate system centered at Home Plate, which is considered to be a hydrovolcanic complex.

Morris, R. V.↗