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NASA NTRS2021

Ground-based Automated Scheduling for Operations of the Mars 2020 Rover Mission

The National Aeronautics and Space Administration’s (NASA) Mars 2020 Rover, named Perseverance, landed on the surface of Mars in Jezero Crater on February 18, 2021. Since the landing, the rover’s activities have been planned with the aid of a ground-based automated scheduling system called Copilot. Automated scheduling is very rare for planetary rover missions. Historically humans have created a schedule manually and ensured that the schedule satisfied all constraints. Higher levels of automation in the system allows science planners to produce schedules for the rover more quickly. In addition to scheduling user-provided activities, Copilot generates and schedules two types of support activities: sleep activities and heating activities. Some activities require the CPU to be on as they execute, so Copilot schedules wakeups and shutdowns of the CPU at the appropriate times. Some activities require areas of the rover to be heated before they can execute, and that heating must be maintained throughout the duration of the activity. Copilot schedules the preheat and maintenance heating activities for the user-provided activities that require them. To facilitate Copilot usage, the Crosscheck tool shows the science planners how Copilot constructed a schedule. For activities that fail to be scheduled, Crosscheck gives information on the constraints that the activity would have violated. This gives the users insight into how to change the input activities and constraints in order to achieve a schedule that satisfies their goals.

Towey, Shannon↗

NASA NTRSDate not supplied

Data Fusion of In-Flight Aerothermodynamic Heating Measurements Using Kalman Filtering

On February 18th, 2021, the Mars 2020 entry system successfully delivered the Perseverance rover to the surface of Mars at Jezero Crater. The entry capsule carried instrumentation installed on the heatshield and backshell, named the Mars Entry, Descent, and Landing Instrumentation 2. The instruments included pressure transducers, thermocouples, heat flux gauges, and a radiometer to measure the aerodynamic and aerothermodynamic performance of the entry vehicle. Three of these sensors, a thermocouple plug, heat flux gauge, and a radiometer, were co-located on the backshell. The sensors were exposed to roughly the same aerodynamic heating, but measured these environments in different ways, each with its own set of modeling and measurement error complications. This paper develops a method for blending each of these measurements together in a single algorithm to produce estimates of the aerothermodynamic environments at that backshell location. The approach makes use of the Kalman-Schmidt filter/smoother methodology, where systematic measurement error parameters are modeled as multiplicative states that are estimated by the filter along with the aerothermal states. The results indicate peak convective and radiative heating values of 0.86 and 5.16 W/cm2, respectively, compared to the filter predictive model values of 0.67 and 4.83 W/cm2.

Christopher D Karlgaard↗

NASA NTRSDate not supplied

Data Fusion of In-Flight Aerothermodynamic Heating Measurements Using Kalman Filtering

On February 18th, 2021, the Mars 2020 entry system successfully delivered the Perseverance rover to the surface of Mars at Jezero Crater. The entry capsule carried instrumentation installed on the heatshield and backshell, named the Mars Entry, Descent, and Landing Instrumentation 2. The instruments included pressure transducers, thermocouples, heat flux gauges, and a radiometer to measure the aerodynamic and aerothermodynamic performance of the entry vehicle. Three of these sensors, a thermocouple plug, heat flux gauge, and a radiometer, were co-located on the backshell. The sensors were exposed to roughly the same aerodynamic heating, but measured these environments in different ways, each with its own set of modeling and measurement error complications. This paper develops a method for blending each of these measurements together in a single algorithm to produce estimates of the aerothermodynamic environments at that backshell location. The approach makes use of the Kalman-Schmidt filter/smoother methodology, where systematic measurement error parameters are modeled as multiplicative states that are estimated by the filter along with the aerothermal states. The results indicate peak convective and radiative heating values of 0.86 and 5.16 W/cm$^2$, respectively, compared to the filter predictive model values of 0.67 and 4.83 W/cm$^2$.

Christopher D Karlgaard↗

NASA NTRSDate not supplied

Development and Sizing of the Mars 2020 Thermal Protection System

The Mars 2020 entry vehicle successfully delivered the Perseverance rover to the Martian surface on 18 February 2021. The entry vehicle aeroshell was shielded from aerodynamic heating with a thermal protection system (TPS) made of three different ablative materials. This paper provides an overview of the methodology and assumptions employed for the thermal sizing and design of the Mars 2020 aeroshell TPS. The sizing results demonstrate that the as-built thicknesses of the TPS materials were sufficient to withstand the predicted aerothermal environments without exceeding temperature limits of the underlying aeroshell structure. This paper also provides an overview of the ground testing performed in NASA arc jet facilities to verify the performance of flight lot TPS materials. Finally, temperature data returned by thermocouples embedded in the flight vehicle TPS are compared with predictions by the thermal response models used in pre-flight TPS sizing.

Mars2020↗

NASA NTRSDate not supplied

Variance Decomposition of MEDLI2 Reconstructed Heating Using Neural Networks

The Mars Entry, Descent, and Landing Instrumentation (MEDLI2) sensor suite collected data during entry of the Mars 2020 Perseverance rover into Mars’ atmosphere. An inverse estimation of the backshell and heatshield surface aeroheating was performed, using the data from the MEDLI2 Instrumented Sensor Plugs, a network of thermocouples embedded within the thermal protection system across the aeroshell. Monte Carlo analysis was conducted to assess the sensitivity of the surface heat rate, temperature, and heat load to uncertainties in thermocouple depth and material properties. In this paper, a variance decomposition method using Sobol indices was employed to understand the relative contributions of each uncertainty parameter. Performing this analysis using results from the inverse analysis tool FIAT_Opt was found to require incredibly high computation time, and thus machine learning models were trained and evaluated as a surrogate model for FIAT_Opt. This paper demonstrates that machine learning models can be an efficient, accurate alternative to state-of-the-art inverse analysis tools like FIAT_Opt, especially for computationally-expensive processes. Using these models, the sensitivity analysis showed that uncertainties in heat capacity and thermal conductivity were the main drivers for the overall uncertainty in peak reconstructed heating and heat load.

H S Alpert↗

NASA NTRS2021

AI4MARS: A Dataset for Terrain-Aware Autonomy on Mars

Deep learning has quickly become a necessity for selfdriving vehicles on Earth. In contrast, the self-driving vehicles on Mars, including NASA’s latest rover, Perseverance, which is planned to land on Mars in February 2021, are still driven by classical machine vision systems. Deep learning capabilities, such as semantic segmentation and object recognition, would substantially benefit the safety and productivity of ongoing and future missions to the red planet. To this end, we created the first large-scale dataset, AI4Mars, for training and validating terrain classification models for Mars, consisting of ~326K semantic segmentation full image labels on 35K images from Curiosity, Opportunity, and Spirit rovers, collected through crowdsourcing. Each image was labeled by ~10 people to ensure greater quality and agreement of the crowdsourced labels. It also includes ~1.5K validation labels annotated by the rover planners and scientists from NASA’s MSL (Mars Science Laboratory) mission, which operates the Curiosity rover, and MER (Mars Exploration Rovers) mission, which operated the Spirit and Opportunity rovers. We trained a DeepLabv3 model on the AI4Mars training dataset and achieved over 96% overall classification accuracy on the test set. The dataset is made publicly available.1

Ono, Hiro↗

NASA NTRSDate not supplied

Development and Sizing of the Mars 2020 Thermal Protection System

Mars2020↗

NASA NTRSDate not supplied

Mapping Organic-Mineral Associations in Jezero crater

The search for potential signs of life on Mars, a primary aim of the Mars 2020 mission, is greatly informed by the detection of organic matter1. The presence of organic matter also provides key information about the habitability and biological potential of the planet throughout its history. The Perseverance rover was designed for in situ science with the ability to collect a suite of promising samples for eventual return to Earth. One of its instruments, Scanning Habitable Environments with Raman and Luminescence for Organics and Chemicals (SHERLOC), is a deep ultraviolet (DUV) Raman and fluorescence spectrometer designed to map the distribution of organic molecules and minerals on rock surfaces at a resolution of 100 μm2. With its unique spectral mapping capabilities, SHERLOC enables a novel understanding of organic-mineral relationships on Mars to better determine their formation, deposition, and preservation mechanisms. The rover’s landing site within Jezero crater combines a high potential for past habitability as the site of an ancient lake basin with a diverse set of minerals, including carbonates and clays, that may preserve organic materials and potential biosignatures. The Jezero crater floor includes three formations (fm); two of these, Máaz and Séítah, were explored as part of the mission’s first campaign. Here, we report the detection of multiple species of aromatic organic molecules using Raman and fluorescence spectroscopy across ten targets in the two formations. This is the first evidence of organic molecules in Martian materials obtained using Raman spectroscopy, and among the first using fluorescence spectroscopy, beyond Earth3. We report specific spatial patterns and classes of organic molecules in these compositionally distinct formations, potentially indicating different fates of carbon in these environments. Our findings indicate that there is a diversity of aromatic molecules prevalent on the Martian surface and these materials persist despite exposure to surface conditions. These organic molecules are largely found within minerals linked to aqueous processes, suggesting that these processes may have had a key role in organic synthesis, transport from their point of origin, or preservation.

Sunanda Sharma↗

NASA NTRS2022

An olivine cumulate outcrop on the floor of Jezero crater, Mars

The geological units on the floor of Jezero crater, Mars, are part of a wider regional stratigraphy of olivine-rich rocks, which extends well beyond the crater. We investigate the petrology of olivine and carbonate-bearing rocks of the Séítah formation in the floor of Jezero. Using multispectral images and x-ray fluorescence data, acquired by the Perseverance rover, we performed a petrographic analysis of the Bastide and Brac outcrops within this unit. We find that these outcrops are composed of igneous rock, moderately altered by aqueous fluid. The igneous rocks are mainly made of coarse-grained olivine, similar to some Martian meteorites. We interpret them as an olivine cumulate, formed by settling and enrichment of olivine through multi-stage cooling of a thick magma body.

Mars↗

NASA NTRS2022

The Scientific Importance of Returning Airfall Dust as a Part of Mars Sample Return (MSR)

Dust transported in the martian atmosphere is of intrinsic scientific interest and has relevance for the planning of human missions in the future. The MSR Campaign, as currently designed, presents an important opportunity to return serendipitous, airfall dust. The tubes containing samples collected by the Perseverance rover would be placed in cache depots on the martian surface perhaps as early as 2023–24 for recovery by a subsequent mission no earlier than 2028–29, and possibly as late as 2030–31. Thus, the sample tube surfaces could passively collect dust for multiple years. This dust is deemed to be exceptionally valuable as it would inform our knowledge and understanding of Mars' global mineralogy, surface processes, surface-atmosphere interactions, and atmospheric circulation. Preliminary calculations suggest that the total mass of such dust on a full set of tubes could be as much as 100 mg and, therefore, sufficient for many types of laboratory analyses. Two planning steps would optimize our ability to take advantage of this opportunity: (1) the dust-covered sample tubes should be loaded into the Orbiting Sample container (OS) with minimal cleaning and (2) the capability to recover this dust early in the workflow within an MSR Sample Receiving Facility (SRF) would need to be established. A further opportunity to advance dust/atmospheric science using MSR, depending upon the design of the MSR Campaign elements, may lie with direct sampling and the return of airborne dust.

Monica M. Grady↗

NASA NTRSDate not supplied

MARS 2020 Backshell Radiative Heating Measurement and Shock Tube Verification

In February 2021, the Perseverance rover was brought to the surface of Mars by the Mars 2020 mission. A feature of the Mars 2020 capsule was instrumentation to measure its entry, descent and landing (EDL) with the so-called Mars EDL Instrumentation 2 (MEDLI2) [1]. The MEDLI2 introduced, among other things, backshell instrumentation, including a broadband radiometer. The radiometer was mounted on the leeside of the vehicle next to thermocouple plugs and a heat flux gauge. The data returned by the leeside MEDLI2 heat flux gauge is largely analogous to that measured by the COMARS gauge flown on the ExoMars Schiaparelli [2] entry in that it is measuring heat flux in an area that is entirely dominated by radiative heating. The COMARS measurement provided excellent validation of backshell radiative heating models for Mars entry, albeit at a limited number of points [3]. The MEDLI2 heat flux gauge measurement effectively confirmed the quality of the prediction, extended over the full trajectory, as will be presented in this paper. The MEDLI2 radiometer,however, was blocked by ablation products and suffered a loss of half of its signal. The second backshell heat flux gauge installed on the windside of the vehicle was also well predicted, although the heating had both radiative and convective contributions. It was desired to reproduce the conditions of the Mars 2020 entry via ground testing in the Electric Arc Shock Tube (EAST) at NASA Ames. Tests to verify stagnation line heating were previously reported in EAST, confirming the presence of shock layer radiation as the major discrepancy in heatshield temperature modelling [4]. Therefore, tests for stagnation line heating were not repeated. Instead, the shock tube informed bias method [5, 6] was used to identify test conditions that may produce similarity to streamlines that pass around the backside of the vehicle and are responsible for the radiation observed at the two heat flux gauge locations. This method was used to identify a range of velocities and densities in the shock tube that are relevant for confirming the radiative environment encountered. This paper reports the results obtained in the 10 cm diameter EAST shock tube, corresponding to later trajectory points at ambient pressures of 1.1-2.0 Torr and velocities from 1.2-3.5 km/s. The test series employed two primary diagnostics: emission spectroscopy and tunable diode laser absorption spectroscopy (TDLAS). The emission spectroscopy performed broadband measurements of the radiative emission of the 4.3 and 2.7 m bands of CO2 at flight similar conditions, obtaining both spectral and spatial data corresponding to the relaxation behind the shock front. The TDLAS measured the absorption of several lines of CO and CO2 and obtains species number densities and temperatures as a function of time behind the shock front. This paper will review highlights of this test series and analyses of the emission and absorption data. While the datasets generally show good agreement with predictions, a few discrepancies and items for additional investigation are identified and will be discussed

Brett A Cruden↗

NASA NTRSDate not supplied

Effects of Mars Analogue Dust Deposition on DUV Raman Spectra: Implications for the Mars2020 Perserverance Rover SHERLOC Instrument

The Scanning Habitable Environments with Raman & Luminescence for Organics & Chemicals (SHERLOC) instrument suite includes a deep ultraviolet (DUV) Raman and fluorescence instrument on the robotic arm of the Mars2020 (M2020) Perseverance rover [1]. When sufficiently thick dust coatings are present, substrate surfaces are not detected, and mineralogical information not obtained. For example, the effect of palagonitic dust coatings as a function of depth to various substrates on thermal emission, VNIR, and Mössbauer spectra are reported by [2, 3]. In this study, we use the same palagonitic dust to study the effect of dust coating thickness on DUV Raman spectra.

N. C. Haney↗

NASA NTRSDate not supplied

Fluid-Structure Interaction Simulations of the ASPIRE SR03 Supersonic Parachute Flight Test

Research into parachute performance continues to be a source of significant investment from the National Aeronautics and Space Administration to mitigate risks and to enable a variety of exploration missions, including landing on Mars as well as returning to Earth. The cost of flight tests to certify any changes to the current state-of-the-art parachute designs limits the development of next generation parachute systems. Fluid-structure interaction simulations could help accelerate this process once validated. The Launch, Ascent, and Vehicle Aerodynamics team is developing the capability to perform such fluid-structure interaction simulations by coupling a higher-order Cartesian immersed boundary computational fluid dynamics solver with adaptive mesh refinement to a finite element structural dynamics solver in space and time. We continue the effort to validate this tool with the Advanced Supersonic Parachute Inflation Research Experiments SR03 flight test featuring a strengthened parachute akin to the Mars 2020 mission that landed the Perseverance rover on Mars, and a higher freestream dynamic pressure prior to inflation. The effect of the flow conditions’ angle of attack and of the initial parachute shape are quantified. The impact of relaxing modeling assumptions with regards to radial stiffeners on the parachute canopy is also investigated. Results demonstrate improvements in agreement with the pull force recorded during the SR03 flight test as the initial conditions of the flow and parachute are brought closer to those experienced in flight, and further improved when the radial stiffener modeling assumptions are relaxed.

ESM↗

NASA NTRSDate not supplied

Fluid-Structure Interaction Simulations of the ASPIRE SR03 Supersonic Parachute Flight Test

ESM↗

NASA NTRSDate not supplied

Terrestrial Aqueously Altered Magmatic Dike Forming Sulfate-Rich Hydrothermal Fluids to Constrain Martian Habitability

Intrusion of magma into a water-bearing crust can create a habitable hydrothermal environment, as seen on Earth. As the rock surrounding the intrusion is subjected to heat it can 1) release water, and different chemical species, from pre-existing minerals, and 2) interact with volatiles released from the cooling magma, which can create a geothermal brine with a distinct composition suitable for a range of chemotrophs. Hence, studying such environments on Earth is important in the search for life beyond our planet. The geothermal brine’s nature is dependent on the host rock and the magmatic properties. On Mars basaltic and sulfur-rich soils are dominant and therefore investigating basaltic magmatic interaction with sulfate-rich sediments and their associated habitats is key for recognizing potential habitats on Mars. The NASA Perseverance Rover at Jezero Crater has detected aqueously altered igneous rocks, potentially intrusive in origin, with secondary carbonates, sodium perchlorate and sulfates. Such an environment may have been habitable. Therefore, we investigate the intrusion of a magmatic dike into Jurassic sulfate-rich sediments from the San Rafael Swell, Utah, to reconstruct the geothermal fluids and assess their putative habitability.

B Baharier↗

NASA NTRSDate not supplied

Stratigraphic Relationships of the Western Delta and Crater Floor in Jezero Crater From Rimfax Gpr Observations.

One of the most fundamental questions about the geology of Jezero prior to the arrival of Mars 2020 Perseverance rover was the relative sequence of emplacement of the western delta and the adjacent crater floor terrain. Based on orbital evidence, some authors favored delta formation to post-date crater floor emplacement, though crater floor material appears to exhibit embaying relationships in other areas. An older crater floor would also be inconsistent with the crater floor material consisting of lake or eroded delta sediments, which would be syn- or post-depositional with the delta.

P. S. Russell↗

NASA NTRS2022

Winds at the Mars 2020 Landing Site. 2. Wind Variability and Turbulence

Wind speeds measured by the Mars 2020 Perseverance rover in Jezero crater were fitted as a Weibull distribution. InSight wind data acquired in Elysium Planitia were also used to contextualize observations. Jezero winds were found to be much calmer on average than in previous landing sites, despite the intense aeolian activity observed. However, a great influence of turbulence and wave activity was observed in the wind speed variations, thus driving the probability of reaching the highest wind speeds at Jezero, instead of sustained winds driven by local, regional, or large-scale circulation. The power spectral density of wind speed fluctuations follows a power-law, whose slope deviates depending on the time of day from that predicted considering homogeneous and isotropic turbulence. Daytime wave activity is related to convection cells and smaller eddies in the boundary layer, advected over the crater. The signature of convection cells was also found during dust storm conditions, when prevailing winds were consistent with a tidal drive. Nighttime fluctuations were also intense, suggesting strong mechanical turbulence. Convective vortices were usually involved in rapid wind fluctuations and extreme winds, with variations peaking at 9.2 times the background winds. Transient high wind events by vortex-passages, turbulence, and wave activity could be driving aeolian activity at Jezero. We report the detection of a strong dust cloud of 0.75–1.5 km in length passing over the rover. The observed aeolian activity had major implications for instrumentation, with the wind sensor suffering damage throughout the mission, probably due to flying debris advected by winds.

D. Viúdez-moreiras↗

NASA NTRS2022

Winds at the Mars 2020 Landing Site: 1. Near-Surface Wind Patterns at Jezero Crater

This is the first part of a two-part paper. NASA's Mars 2020 Perseverance rover measured winds on the Jezero crater floor close to the delta of an ancient river. A mostly repeatable diurnal cycle was observed and presented two regimes: (a) a convective regime, from dawn to sunset, with average easterly to southeasterly winds, during which maximum wind speeds were measured, and (b) a nighttime regime with westerly-northwesterly winds followed by a relatively calm period with highly variable wind directions as a function of sol and time of night. The timing and magnitude of the observed regimes are consistent with primary control by regional and local slope flows. Data suggest that the surface circulation at Jezero region in northern spring and summer is highly unaffected by large-scale circulation except during particular periods in the diurnal cycle or generally during dust storms, which is supported by MarsWRF model simulations. Consequently, the observed seasonal variability was weak. However, sol-to-sol and seasonal variability were measured, most of it during certain nighttime periods. Traveling waves consistent with baroclinic instability were clearly observed in surface winds at L_s ∼ 75°. The early MY36/2022A regional dust storm at L_s ∼ 153° disturbed the wind patterns with changes suggesting enhanced tidal flows. After sunset, the dust storm also produced detectable gravity wave activity, increasing the mixing in the nighttime planetary boundary layer during storm conditions. Inferred wind directions from dust devil movies strongly suggest that prevailing winds continued to be slope-driven during the late summer, fall and early winter seasons.

D. Viúdez-Moreiras↗