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NASA NTRS2015

The CheMin XRD on the Mars Science Laboratory Rover Curiosity: Construction, Operation, and Quantitative Mineralogical Results from the Surface of Mars

The Mars Science Laboratory mission was launched from Cape Canaveral, Florida on Nov. 26, 2011 and landed in Gale crater, Mars on Aug. 6, 2012. MSL's mission is to identify and characterize ancient "habitable" environments on Mars. MSL's precision landing system placed the Curiosity rover within 2 km of the center of its 20 X 6 km landing ellipse, next to Gale's central mound, a 5,000 meter high pile of laminated sediment which may contain 1 billion years of Mars history. Curiosity carries with it a full suite of analytical instruments, including the CheMin X-ray diffractometer, the first XRD flown in space. CheMin is essentially a transmission X-ray pinhole camera. A fine-focus Co source and collimator transmits a 50μm beam through a powdered sample held between X-ray transparent plastic windows. The sample holder is shaken by a piezoelectric actuator such that the powder flows like a liquid, each grain passing in random orientation through the beam over time. Forward-diffracted and fluoresced X-ray photons from the sample are detected by an X-ray sensitive Charge Coupled Device (CCD) operated in single photon counting mode. When operated in this way, both the x,y position and the energy of each photon are detected. The resulting energy-selected Co Kalpha Debye-Scherrer pattern is used to determine the identities and amounts of minerals present via Rietveld refinement, and a histogram of all X-ray events constitutes an X-ray fluorescence analysis of the sample.The key role that definitive mineralogy plays in understanding the Martian surface is a consequence of the fact that minerals are thermodynamic phases, having known and specific ranges of temperature, pressure and composition within which they are stable. More than simple compositional analysis, definitive mineralogical analysis can provide information about pressure/temperature conditions of formation, past climate, water activity and the like. Definitive mineralogical analyses are necessary to establish the origin or provenance of a sample. The search for evidence of extant or extinct life on Mars will initially be a search for evidence of present or past conditions supportive of life (e.g., evidence of water), not for life itself.Results of the first 1,000 sols (Mars days) will be discussed, including the discovery of the first habitable environment on Mars.

CheMin↗
NASA NTRS2012

3D Visualization for Phoenix Mars Lander Science Operations

Planetary surface exploration missions present considerable operational challenges in the form of substantial communication delays, limited communication windows, and limited communication bandwidth. A 3D visualization software was developed and delivered to the 2008 Phoenix Mars Lander (PML) mission. The components of the system include an interactive 3D visualization environment called Mercator, terrain reconstruction software called the Ames Stereo Pipeline, and a server providing distributed access to terrain models. The software was successfully utilized during the mission for science analysis, site understanding, and science operations activity planning. A terrain server was implemented that provided distribution of terrain models from a central repository to clients running the Mercator software. The Ames Stereo Pipeline generates accurate, high-resolution, texture-mapped, 3D terrain models from stereo image pairs. These terrain models can then be visualized within the Mercator environment. The central cross-cutting goal for these tools is to provide an easy-to-use, high-quality, full-featured visualization environment that enhances the mission science team s ability to develop low-risk productive science activity plans. In addition, for the Mercator and Viz visualization environments, extensibility and adaptability to different missions and application areas are key design goals.

Edwards, Laurence↗
NASA NTRS2024

THUNDER: A Titan orbiter mission concept for the New Frontiers program designed at the JPL Planetary Science Summer School

Saturn’s moon Titan is an enigmatic icy world whose surface is constantly modified by its active, Earthlike precipitation system. Here, we propose the THUNDER (Titan’s Hydrocarbons: Uncovering New Dimensions of Evolutionary pRocesses) mission concept to investigate how Titan’s surface reflects the nature of its interior and its active hydrocarbon cycle. This mission will change our understanding of Titan’s surface through three science objectives: characterizing the heat and material transport properties of Titan’s icy outer layer, tracing surface liquid storage through and across the crust, and assessing the total hydrocarbon budget through time. This New Frontiers-class mission, designed as part of the Jet Propulsion Laboratory (JPL) Planetary Science Summer School, responds directly to the call for a Titan orbiter in the NASA Planetary Science and Astrobiology Decadal Survey 2023-2032. THUNDER’s focused geology and geophysics mission could achieve full surface mapping to complement both the Cassini-Huygens and Dragonfly missions using gravity science, radar with three operational modes, and a visible-to-infrared spectrometer. These instruments together could give us the first look at Titan as a fully connected and geologically active world , revolutionizing our understanding of icy bodies, fluvial and atmospheric processes, and habitability across geologic time. Here, we summarize goals of the science mission and engineering approaches, as well as challenges and future directions to study before THUNDER can become a viable mission concept.

mission concept↗
NASA NTRS2017

Osiris-REx Spacecraft Current Status and Forward Plans

The NASA New Frontiers OSIRIS-REx spacecraft executed a flawless launch on September 8, 2016 to begin its 23-month journey to near-Earth asteroid (101955). The primary objective of the OSIRIS-REx mission is to collect and return to Earth a pristine sample of regolith from the asteroid surface. The sampling event will occur after a two-year period of remote sensing that will ensure a high probability of successful sampling of a region on the asteroid surface having high science value and within well-defined geological context. The OSIRIS-REx instrument payload includes three high-resolution cameras (OCAMS), a visible and near-infrared spectrometer (OVIRS), a thermal imaging spectrometer (OTES), an X-ray imaging spectrometer (REXIS), and a laser altimeter (OLA). As the spacecraft follows its nominal outbound-cruise trajectory, the propulsion, power, communications, and science instruments have undergone basic functional tests, with no major issues. Outbound cruise science investigations include a search for Earth Trojan asteroids as the spacecraft approaches the Sun-Earth L4 Lagrangian point in February 2017. Additional instrument checkouts and calibrations will be carried out during the Earth gravity assist maneuver in September 2017. During the Earth-moon flyby, visual and spectral images will be acquired to validate instrument command sequences planned for Bennu remote sensing. The asteroid Bennu remote sensing campaign will yield high resolution maps of the temperature and thermal inertia, distributions of major minerals and concentrations of organic matter across the asteroid surface. A high resolution 3d shape model including local surface slopes and a high-resolution gravity field will also be determined. Together, these data will be used to generate four separate maps that will be used to select the sampling site(s). The Safety map will identify hazardous and safe operational regions on the asteroid surface. The Deliverability map will quantify the accuracy with which the navigation team can deliver the spacecraft to and from specific sites on the asteroid surface. The Sampleability map quantifies the regolith properties, providing an estimation of how much material would be sampled at different points on the surface. The final Science Value map synthesizes the chemical, mineralogical, and geological, observations to identify the areas of the asteroid surface with the highest science value. Here, priority is given to organic, water-rich regions that have been minimally altered by surface processes. Asteroid surface samples will be acquired with a touch-and-go sample acquisition system (TAGSAM) that uses high purity pressurized N2 gas to mobilize regolith into a stainless steel canister. Although the mission requirement is to collect at least 60 g of material, tests of the TAGSAM routinely exceeded 300 g of simulant in micro-gravity tests. After acquiring the sample, the spacecraft will depart Bennu in 2021 to begin its return journey, with the sample return capsule landing at the Utah Test and Training Range on September 23, 2023. The OSIRIS-REx science team will carry out a series of detailed chemical, mineralogical, isotopic, and spectral studies that will be used to determine the origin and history of Bennu and to relate high spatial resolution sample studies to the global geological context from remote sensing. The outline of the sample analysis plan is described in a companion abstract.

Messenger, Scott↗
NASA NTRS2018

Surface Tension Containment Experiment (STCE) - Increasing Science Throughput on ISS

The Microgravity Science Glovebox (MSG) on the International Space Station (ISS) is used for fluid transfer in many types of experiments. Reagents are handled in the MSG to prevent their accidental release into the cabin. However, the MSG is currently over-subscribed, creating a backlog of users in flight. As a recourse, current experiments are underway to assess the possibility of moving certain science operations from the MSG into the open cabin of the ISS. The experiments are designed to assess the efficacy of exploiting surface tension as a control to prevent the unwanted release of liquids. Dyed water currently serves as an ersatz for potentially more hazardous liquids. Common wet-lab operations such as de/mating wetted Luer-Lok fittings, liquid-bearing container lid removal, and pipetting between well plates are performed illustrating the facility and challenges imposed by the microgravity environment. Concerning the latter, various pipette cannula sizes are deployed at various injection, withdrawal, and translations rates to map the existence, size, velocity, and trajectory of satellite droplets expected to form when breaking contact between the water surface and the pipette tip. Though such drops frequently form in terrestrial operations, they are nearly imperceptible and inconsequential—due in part to their speed and because gravity quickly returns them to the well plate from which they came. The use of airflow to capture and collect such satellite droplets is demonstrated. The dynamic stability of the liquid-filled well plates is quantified in response to a variety of crew-imparted disturbances. From a safety perspective, the results from the STCE are of immediate practical value. If such routine low-gravity capillary fluidic operations can be established as mundane, their performance may be moved out of the MSG and into the cabin, significantly increasing the efficiency of experiments performed on ISS.

Ungar, Eugene K.↗
NASA NTRS2018

NASA Low Power Stirling Convertor for Small Landers, Probes, and Rovers Operating in Darkness

A variety of mission concepts have been studied by NASA and the U. S. Department of Energy that would utilize low power Radioisotope Power Systems (RPS) for probes, landers rovers, and repeaters. These missions would contain science instruments distributed across planetary surfaces or near objects of interest where solar flux is insufficient for using solar cells. Landers could be used to provide data like radiation, temperature, pressure, seismic activity, and other surface measurements for planetary science and to inform future mission planners. The studies proposed using fractional versions of the General Purpose Heat Source (GPHS) or multiple Light Weight Radioisotope Heater Units (LWRHU) to heat power conversion technologies for science instruments and communication. Dynamic power systems are capable of higher conversion efficiencies, which could enable equal power using less fuel or more power using equal fuel, when compared to less efficient static power conversion technologies. Providing spacecraft with more power would decrease duty cycling of basic functions and, therefore, increase the quality and abundance of science data. Low power Stirling convertors are being developed at NASA Glenn Research Center (GRC) to provide future micro spacecraft with electrical power by converting heat from one or more LWRHUs. An initial design converts multiple watts of heat to one watt of electrical power output using a Stirling convertor. Development of the concept includes maturation of convertor and controller designs, performance evaluation of an evacuated metal foil insulation, and development of system interfaces. Demonstration of the convertor is planned and represents a new class of RPS with power levels an order of magnitude lower than previous practical designs.

Wilson, Scott D.↗
NASA NTRS2019

NASA Proof-of-Concept 1-W Stirling Convertor Development for Small RPS

Low power Stirling convertors are being developed at NASA Glenn Research Center (GRC) to provide future small spacecraft with electrical power by converting heat from one or more Light Weight Radioisotope Heater Units (LWRHU). An initial design converts multiple watts of heat to one watt of electrical power output using a Stirling convertor. A variety of mission concepts have been studied by NASA and the U. S. Department of Energy (DOE) that would utilize low power Radioisotope Power Systems (RPS) for probes, landers, rovers, and repeaters. These missions would contain science instruments distributed across planetary surfaces or near objects of interest where solar flux is insufficient for using solar cells. Landers could be used to provide data such as, radiation, temperature, pressure, seismic activity, and other surface measurements for planetary science and to inform future mission planners. The studies propose using fractional versions of the General Purpose Heat Source (GPHS) or multiple LWRHUs to heat power conversion technologies for science instruments and communication. Dynamic power systems are capable of higher conversion efficiencies, which could enable equal power using less fuel or more power using equal fuel, when compared to less efficient static power conversion technologies. Providing spacecraft with more power would decrease duty cycling of basic functions and, therefore, increase the quality and abundance of science data. Efforts to develop the concept have focused on maturation of a 1-We convertor and controller design and performance evaluation of an evacuated metal foil insulation. A proof-of-concept 1-We convertor, controller, and evacuated metal foil insulation package have been fabricated and are undergoing characterization testing. The current status, findings, and path forward for the effort are explained in this paper.

Schifer, Nicholas A.↗
NASA NTRS2019

NASA Proof-of-Concept 1-W Stirling Convertor Development for Small RPS

Low power Stirling convertors are being developed at NASA Glenn Research Center (GRC) to provide future small spacecraft with electrical power by converting heat from one or more Light Weight Radioisotope Heater Units (LWRHU). An initial design converts multiple watts of heat to one watt of electrical power output using a Stirling convertor. A variety of mission concepts have been studied by NASA and the U.S. Department of Energy (DOE) that would utilize low power Radioisotope Power Systems (RPS) for probes, landers, rovers, and repeaters. These missions would contain science instruments distributed across planetary surfaces or near objects of interest where solar flux is insufficient for using solar cells. Landers could be used to provide data such as, radiation, temperature, pressure, seismic activity, and other surface measurements for planetary science and to inform future mission planners. The studies propose using fractional versions of the General Purpose Heat Source (GPHS) or multiple LWRHUs to heat power conversion technologies for science instruments and communication. Dynamic power systems are capable of higher conversion efficiencies, which could enable equal power using less fuel or more power using equal fuel, when compared to less efficient static power conversion technologies. Providing spacecraft with more power would decrease duty cycling of basic functions and, therefore, increase the quality and abundance of science data. Efforts to develop the concept have focused on maturation of a 1-We (1-watt electrical) convertor and controller design and performance evaluation of an evacuated metal foil insulation. A proof-of-concept 1-We convertor, controller, and evacuated metal foil insulation package have been fabricated and are undergoing characterization testing. The current status, findings, and path forward for the effort are explained in this paper.

Stirling↗
NASA NTRS2019

NASA Proof-of-Concept 1-W(sub e) Stirling Convertor Development for Small Radioisotope Power Systems

Low power Stirling convertors are being developed at NASA Glenn Research Center to provide future small spacecraft with electrical power by converting heat from one or more Light Weight Radioisotope Heater Units (LWRHU). An initial design converts multiple watts of heat to one watt of electrical power output using a Stirling convertor. A variety of mission concepts have been studied by NASA and the U. S. Department of Energy that would utilize low power Radioisotope Power Systems (RPS) for probes, landers, rovers, and repeaters. These missions would contain science instruments distributed across planetary surfaces or near objects of interest where solar flux is insufficient for using solar cells. Landers could be used to provide data such as, radiation, temperature, pressure, seismic activity, and other surface measurements for planetary science and to inform future mission planners. The studies propose using fractional versions of the General Purpose Heat Source or multiple LWRHUs to heat power conversion technologies for science instruments and communication. Dynamic power systems are capable of higher conversion efficiencies, which could enable equal power using less fuel or more power using equal fuel, when compared to less efficient static power conversion technologies. Providing spacecraft with more power would decrease duty cycling of basic functions and, therefore, increase the quality and abundance of science data. Efforts to develop the concept have focused on maturation of a 1-We convertor and controller design and performance evaluation of an evacuated metal foil insulation. A proof-of-concept 1-We convertor, controller, and evacuated metal foil insulation package have been fabricated and are undergoing characterization testing. The current status, findings, and path forward for the effort are explained in this paper.

Schifer, Nicholas A.↗
NASA NTRS2002

The Pascal Mars Scout Mission

Except for Earth, Mars is the planet most amenable to surface-based climate studies. Its surface is accessible, and the kind of observations that are needed, such as meteorological measurements from a long-lived global network, are readily achievable. Weather controls the movement of dust, the exchange of water between the surface and atmosphere, and the cycling of CO2 between the poles. We know there is a weather signal, we know how to measure it, and we know how to interpret it. Pascal seeks to understand the long-term global behavior of near-surface weather systems on Mars, how they interact with its surface, and, therefore, how they control its climate system. To achieve this, Pascal delivers 18 Science Stations to the surface of the planet that operate for three Mars years (5.6 Earth years). The network has stations operating in the tropics, midlatitudes, and polar regions of both hemispheres. During entry, descent, and landing, each Pascal probe acquires deceleration measurements to determine thermal structure, and descent images to characterize local terrain. On the surface, each Science Station takes daily measurements of pressure, opacity, temperature, wind speed, and water vapor concentration and monthly panoramic images of the landing environment. These data will characterize the planet's climate system and how atmosphere-surface interactions control it. The Pascal mission is named after 17th century French Scientist, Blaise Pascal, who pioneered measurements of atmospheric pressure. Pressure is the most critical measurement because it records the "heartbeat" of the planet's general circulation and climate system.

Haberle, R. M.↗
NASA NTRS1998

Deep Space 2: The Mars Microprobe Project and Beyond

The Mars Microprobe Project, or Deep Space 2 (DS2), is the second of the New Millennium Program planetary missions and is designed to enable future space science network missions through flight validation of new technologies. A secondary goal is the collection of meaningful science data. Two micropenetrators will be deployed to carry out surface and subsurface science. The penetrators are being carried as a piggyback payload on the Mars Polar Lander cruise ring and will be launched in January 1999. The microprobe has no active control, attitude determination, or propulsive systems. It is a single stage from separation until landing and will passively orient itself due to its aerodynamic design. The aeroshell will be made of a nonerosive heat shield material, Silicon impregnated Reusable Ceramic Ablator(SIRCA), developed at Ames Research Center. The aeroshell shatters on impact, at which time the probe separates into an aftbody that remains at the surface and a forebody that penetrates into the subsurface. Each probe has a total mass of up to 3 kg, including the aeroshell. The impact velocity will be about 180 meters per second. The forebody will experience up to 30,000 g's and penetrate between 0.3 and 2 meters, depending on the ice content of the soil. The aftbody deceleration will be up to 80,000 g. The penetrators arrive in December 1999. The landing ellipse latitude range is 73 deg-77 deg S. The longitude will be selected by the Mars Surveyor Project to place the lander on the polar layered deposits in the range of 180 deg -230 deg W. The two micropenetrators are likely to land within 100 km of the Mars Surveyor Lander, on the polar deposits. The likely arrival date is L(sub s) = 256, late southern spring. The nominal mission lasts 2 days. A science team was selected in April 1998.

Smrekar, S. E.↗
NASA NTRS2023

Science Objectives for Human Exploration of Mars Workshop Report

The Science Objectives for Human Exploration of Mars Workshop was held in Denver, Colorado on May 4–6, 2022. The workshop was co-sponsored by NASA’s Science Mission Directorate and the Exploration Systems Development Mission Directorate to actively engage the planetary science community to determine what planetary science should be done by human crews on the martian surface and how those science objectives can be achieved. Sessions at the Science Objectives for Human Exploration of Mars Workshop were organized around specific planetary science objectives and mission architecture concepts that were identified during the workshop as the highest priority for human exploration. The intent of this workshop was to synthesize a notional, integrated concept of operations for each scenario to aid in planning and refining the mission architecture for the first human mission to Mars. Results from the Planetary Decadal Survey Report were released xx days before the workshop and were briefed to workshop participants who incorporated the findings in the discussions. With the Artemis missions, humans will return to the Moon using innovative technologies to explore the lunar surface. We will apply what we learn about exploration architecture, surface infrastructure, and science and exploration operations on and around the Moon to conduct successful missions with the first astronauts to Mars. A human mission to Mars will be a landmark achievement and a golden opportunity to make groundbreaking scientific discoveries on Mars. The potential scope of the science activities and impact of achieving those objectives are extraordinary.

Mars↗
NASA NTRS2011

The 2010 Desert Rats Science Operations Test: Outcomes and Lessons Learned

The Desert RATS 2010 Team tested a variety of science operations management techniques, applying experience gained during the manned Apollo missions and the robotic Mars missions. This test assessed integrated science operations management of human planetary exploration using real-time, tactical science operations to oversee daily crew science activities, and a night shift strategic science operations team to conduct strategic level assessment of science data and daily traverse results. In addition, an attempt was made to collect numerical metric data on the outcome of the science operations to assist test evaluation. The two most important outcomes were 1) the production of significant (almost overwhelming) volume of data produced during daily traverse operations with two rovers, advanced imaging systems and well trained, scientifically proficient crew-members, and 2) the degree to which the tactical team s interaction with the surface crew enhanced science return. This interaction depended on continuous real-time voice and data communications, and the quality of science return from any human planetary exploration mission will be based strongly on the aggregate interaction between a well trained surface crew and a dedicated science operations support team using voice and imaging data from a planet s surface. In addition, the scientific insight developed by both the science operations team and the crews could not be measurable by simple numerical quantities, and its value will be missed by a purely metric-based evaluation of test outcome. In particular, failure to recognize the critical importance of this qualitative type interaction may result in mission architecture choices that will reduce science return.

Eppler, D. B.↗
NASA NTRSDate not supplied

Stereo Camera Simulation for Lunar Surface Photogrammetry

During the rocket-powered landing of a vehicle on a planetary body, the interaction between the rocket plume and the surface material beneath the vehicle plays a significant role in the descent dynamics and the safety of powered descent. However, in-situ data taken to investigate plume-surface interaction has been limited. The upcoming flight and lunar landing of the Intuitive Machines Nova-C will be equipped with the Stereo Cameras for Lunar Plume-Surface Studies (SCALPSS) science package, enabling the direct measurement of plume-induced surface cratering during powered descent. In this work, we present the engineering constraints, design iteration process, and simulation results that drove the design selection for the SCALPSS camera system. The chosen design will provide 3D-imaging coverage of 84 percent of the lunar surface directly under the landed Nova-C, in addition to some coverage of the neighboring surface. SCALPSS will provide a total 3D-imaging coverage area of approximately 13 square meters. With the anticipated Nova-C landing in October of 2021, SCALPSS will provide the first dedicated in-situ measurement of plume-induced surface cratering.

Ryan J. Thompson↗
NASA NTRS2022

Mars 2020 Perseverance Rover SHERLOC Instrument Isolation System

The NASA Jet Propulsion Laboratory (JPL) successfully landed the Mars 2020 Perseverance Rover at Jezero Crater on the Martian surface. Perseverance’s main mission objective is to cache Martian rock and regolith samples in hermetically sealed tubes to be brought back to Earth by future missions. To achieve this goal the rover is equipped with a 2-meter-long Robotic Arm (RA) which manipulates the Turret to interact with the surface. The Turret is comprised of science instruments and tools that enable surface sampling and science. The backbone of the Turret hardware is the Rotary Percussive Coring Drill. The science instruments, which are directly mounted to the structural housing of this drill, must be able to withstand not only the launch and entry, descent and landing (EDL) loads of the vehicle but also the dynamic percussive environment, induced by the drill throughout surface operations. This paper discusses the technical hardware design, development and testing of a vibration isolation system to protect the Scanning Habitable Environments with Raman and Luminescence for Organics and Chemicals (SHERLOC) Instrument from these dynamic environments. The hardware design aspect of this problem was limited by both size and mass constraints. The Turret is tightly configured and the physical space in which hardware can reside is restricted due to multiple axes of surface interaction points. Another driving requirement is the extreme range of thermal non-operational environment from -135C to +90C. This, in addition to SHERLOC being a heavier instrument than previously integrated on a turret, made the use of isolation systems employed on previous rover missions problematic. The final design incorporates custom wire mesh springs preloaded within titanium hexapod struts equipped with flexure ends. Custom versions of commercially available wire mesh springs were designed and tested. These custom springs differed in dimension, density and stiffness from the off the shelf options. The newly designed springs went through various stages of flight acceptance testing. Detailed physics-based modeling to understand what loads the isolation system would experience was used to define the test conditions for the springs and entire isolation subsystem. The testing program developed around this was extensive to fully characterize the isolation performance over cleanliness levels, temperature and life. Another major aspect of this work was developing a method of replicating the drill’s percussive environment for performance and life testing of Turret mounted hardware. Attaching the instrument to an operating drill for testing was not a viable option. A method of using a Highly Accelerated Life Test (HALT) table was developed and applied across the project as the most representative and tunable option to physically simulate this new environment. This method, along with launch environment random vibration testing, was used to build an entire dynamic qualification and flight hardware test program. The results of the design, modeling, testing and analysis of the SHERLOC Isolation System is described throughout the following paper.

Krafchak, Todd↗
NASA NTRS2000

Rovers as Geological Helpers for Planetary Surface Exploration

Rovers can be used to perform field science on other planetary surfaces and in hostile and dangerous environments on Earth. Rovers are mobility systems for carrying instrumentation to investigate targets of interest and can perform geologic exploration on a distant planet (e.g. Mars) autonomously with periodic command from Earth. For nearby sites (such as the Moon or sites on Earth) rovers can be teleoperated with excellent capabilities. In future human exploration, robotic rovers will assist human explorers as scouts, tool and instrument carriers, and a traverse "buddy". Rovers can be wheeled vehicles, like the Mars Pathfinder Sojourner, or can walk on legs, like the Dante vehicle that was deployed into a volcanic caldera on Mt. Spurr, Alaska. Wheeled rovers can generally traverse slopes as high as 35 degrees, can avoid hazards too big to roll over, and can carry a wide range of instrumentation. More challenging terrain and steeper slopes can be negotiated by walkers. Limitations on rover performance result primarily from the bandwidth and frequency with which data are transmitted, and the accuracy with which the rover can navigate to a new position. Based on communication strategies, power availability, and navigation approach planned or demonstrated for Mars missions to date, rovers on Mars will probably traverse only a few meters per day. Collecting samples, especially if it involves accurate instrument placement, will be a slow process. Using live teleoperation (such as operating a rover on the Moon from Earth) rovers have traversed more than 1 km in an 8 hour period while also performing science operations, and can be moved much faster when the goal is simply to make the distance. I will review the results of field experiments with planetary surface rovers, concentrating on their successful and problematic performance aspects. This paper will be accompanied by a working demonstration of a prototype planetary surface rover.

Stoker, Carol↗