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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 307 records · Page 17

Will MSR Samples Cached on the Martian Surface Experience Significantly Greater Thermal Degradation than Samples Retained in the Rover?

Since the first Mars Sample Return (MSR)-related report published by the Jet Propulsion Laboratory (JPL) in 1974, a series of panels, reports, and white papers have recognized the importance of sample temperature in meeting mission goals and defined a sample maximum temperature (henceforth SMT) limit. The Mars Sample Handling and Requirements Panel (MSHARP, 1999) flatly stated that “[t]he main issue in sample preservation is temperature”. The Mars Exploration Program Analysis Group (MEPAG)’s “Science Priorities for Mars Sample Return” report (2008), declared that “[s]ignificant loss, particularly to biological studies, occurs if samples reach +50°C for three hours ” whereby “scientific objectives related to life goals could be seriously compromised”. Overall, a total of seven panels, white papers, and conference reports adopted a SMT of -40±17°C to preserve samples sufficiently to confidently achieve success in studies of past or present Martian life (see more detail in [5]). In contrast, the Mars 2020 rover (M2020) mission adopted a SMT of +60°C for samples stored on the Martian surface and +50°C for samples retained inside the rover, as stated in a conference poster presented by Beaty et al., 2016. M2020 is currently collecting samples for MSR in tubes. Half of those tubes will be retained within the M2020 rover body (hereafter rover samples, or RS) and half will be deposited on the Martian surface (cached samples or CS), with a currently undetermined number of each collected up to ten years later for return to Earth. CS samples can be expected to experience significantly higher temperatures than RS samples based on their exposed location in sunlight. This work will explore differences in deleterious chemical reaction rates due to thermal environment of both tube types. The findings here should be debated openly and considered when deciding which samples to return to Earth.

M Fries↗

Mars Rovers, Past and Future

This paper discusses the history of planetary rovers, including research vehicles, from the initial concepts in the early 1960's to the present. General characteristics and their evolution are discussed including mission drivers, technology limitations, controls approach, mobility and overall performance. Special emphasis is given to the next generation mission of rovers, the Mars Science Laboratory rover. This vehicle is being designed for a 2009 launch with the capability to operate over 80% of the surface of Mars for a full Martian year (687 days). It is designed to visit numerous sites, with a science payload capable of making measurements that will enable understanding the past or present habitability of Mars.

Mars rovers↗

Onboard planning for geological investigations using a rover team

This paper describes an integrated system for coordinating multiple rover behavior with the overall goal of collecting planetary surface data. The Multi-Rover Integrated Science Understanding System (MISUS) combines techniques from planning and scheduling with machine learning to perform autonomous scientific exploration with cooperating rovers.

scheduling↗

Propulsive maneuver design for the Mars Exploration Rover mission

Starting from approximately 150 candidate Martian landing sites, two distinct sites have been selected for further investigation by sophisticated rovers. The two rovers, named 'Spirit' and 'Opportunity', begin the surface mission respectively to Gusec Crater and Meridiani Planum in January 2004. the rovers are essentially robotic geologists, sent on a mission to research for evidence in the rocks and soil pertaining to the historical presence of water and the ability to possibly sustain life. Before this scientific search can commence, precise trajectory targeting and control is necessary to achieve the entry requirements for the selected landing sites within the constraints of the flight system. The maneuver design challenge is to meet or exceed these requirements while maintaining the necessary design flexibility to accommodate additional project concerns. Opportunities to improve performance and reduce risk based on trajectory control characteristics are also evaluated.

Opportunity↗

Mechanically Pumped Fluid Loop (MPFL) Technologies for Thermal Control of Future Mars Rovers

Mechanically pumped fluid loop has been the basis of thermal control architecture for the last two Mars lander and rover missions and is the key part of the MSL thermal architecture. Several MPFL technologies are being developed for the MSL rover include long-life pumps, thermal control valves, mechanical fittings for use with CFC-11 at elevated temperatures of approx.100 C. Over three years of life tests and chemical compatibility tests on these MPFL components show that MPFL technology is mature for use on MSL. The advances in MPFL technologies for MSL Rover will benefit any future MPFL applications on NASA s Moon, Mars and Beyond Program.

mechanically pumped fluid loop↗

Mars Exploration Rover Surface Mission: Thermal Performance for More Than an Entire Martian Year

This viewgraph presentation reviews the thermal performance of the Mars Exploration Rovers. The Mars Exploration Rover (MER) project landed two identical roving science vehicles on Mars in January 2004; they have continued to perform geological science data collection well beyond their surface design lifetime of 90 sols. The design of the thermal system is described. Pictures from the rovers are also included,

flight performance↗

A Martian Telecommunications Network: UHF Relay Support of the Mars Exploration Rovers by the Mars Global Surveyor, Mars Odyssey, and Mars Express Orbiters

NASA and ESA have established an international network of Mars orbiters, outfitted with relay communications payloads, to support robotic exploration of the red planet. Starting in January, 2004, this network has provided the Mars Exploration Rovers with telecommunications relay services, significantly increasing rover engineering and science data return while enhancing mission robustness and operability. Augmenting the data return capabilities of their X-band direct-to-Earth links, the rovers are equipped with UHF transceivers allowing data to be relayed at high rate to the Mars Global Surveyor (MGS), Mars Odyssey, and Mars Express orbiters. As of 21 July, 2004, over 50 Gbits of MER data have been obtained, with nearly 95% of that data returned via the MGS and Odyssey UHF relay paths, allowing a large increase in science return from the Martian surface relative to the X-band direct-to-Earth link. The MGS spacecraft also supported high-rate UHF communications of MER engineering telemetry during the critical period of entry, descent, and landing (EDL), augmenting the very low-rate EDL data collected on the X-band direct-to-Earth link. Through adoption of the new CCSDS Proximity-1 Link Protocol, NASA and ESA have achieved interoperability among these Mars assets, as validated by a successful relay demonstration between Spirit and Mars Express, enabling future interagency cross-support and establishing a truly international relay network at Mars.

telecommunications↗

Mars Exploration Rover Cruise Orbit Determination

The Mars Exploration Rover project consisted of two missions (MER-A: spirit rover and MER-B: opportunity rover) that launched spacecraft on June 10, 2003, and July 8, 2003, respectively. The spacecraft arrived at Mars approximately seven months later on January 4, 2004, and January 24, 2004. These spacecraft needed to be precisely navigated to a Mars atmospheric entry flight path angle of -11.5 deg +/-0.12 deg (3(sigma)) for MER-A and +/-0.14 deg (3(sigma)) for MER-B in order to satisfy the landing site delivery requirements. The orbit determination task of the navigation team needed to accurately determine the trajectory of the spacecraft, predict the trajectory to Mars atmospheric entry, and account for all possible errors sources so that the each spacecraft could be correctly targeted using five trajectory corrections along the way. This paper describes the orbit determination analysis which allowed MER-A to be targeted using only four trajectory correction maneuvers to an entry flight path angle of -11.49 deg +/-O.010 deg (3(sigma)) and MER-B to be targeted using only three trajectory correction maneuvers to an entry flight path angle of -11.47 +/-0.021 deg(3(sigma)).

navigation↗

Terrain Adaptive Navigation for Mars Rovers

A navigation system for Mars rovers in very rough terrain has been designed, implemented, and tested on a research rover in Mars analog terrain. This navigation system consists of several technologies that are integrated to increase the capabilities compared to current rover navigation algorithms. These technologies include: goodness maps and terrain triage, terrain classification, remote slip prediction, path planning, high-fidelity traversability analysis (HFTA), and slip-compensated path following. The focus of this paper is not on the component technologies, but rather on the integration of these components. Results from the onboard integration of several of the key technologies described here are shown. Additionally, the results from independent demonstrations of several of these technologies are shown. Future work will include the demonstration of the entire integrated system described here.

traversabiity analysis↗

Mars Exploration Rover: Launch, Cruise, Entry, Descent, and Landing

The Mars Exploration Rover Project was an ambitious effort to land two highly capable rovers on Mars and concurrently explore the Martian surface for three months each. Launched in June and July of 2003, cruise operations were conducted through January 4, 2004 with the first landing, followed by the second landing on January 25. The prime mission for the second rover ended on April 27, 2004. This paper will provide an overview of the launch, cruise, and landing phases of the mission, including the engineering and science objectives and challenges involved in the selection and targeting of the landing sites, as well as the excitement and challenges of atmospheric entry, descent and landing execution.

Entry, Descent, Landing, (EDL)↗

Onboard Autonomous Rock Shape Analysis for Mars Rovers

In the quest to maximize the scientific return of future robotic missions, it is imperative that our rovers be capable of determining the importance of the science they collect so that they may prioritize the acquisition and relay of that data. As an important step in this process, we present an automated technique to allow a rover to classify the shape and other geologic characteristics of rocks from two-dimensional photographic images and three-dimensional stereographically produced data. Experiments were conducted in the Matlab environment using images returned by JPL's Mars Pathfinder mission. Our method begins by first segmenting the rocks from the background using a combination of image intensity and height data. Various metrics are then used to classify the region's sphericity, roundness, and other geometric properties. Preliminary experiments to determine the most useful metrics were conducted by characterizing the two-dimensional rock shape while the three-dimensional shape was later studied with metrics derived from these two-dimensional techniques. Seven measures were developed and implemented. The performance of each measure was characterized by analyzing imagesfrom the Pathfinder mission and ranking the rocks according to the measured properties. Combined, the measures would provide a tool by which an automated rover could discover a greater amount of information about the data it collects, leading to a more productive mission.

image segmentation↗

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↗

Using Multi-Core Systems for Rover Autonomy

Task Objectives are: (1) Develop and demonstrate key capabilities for rover long-range science operations using multi-core computing, (a) Adapt three rover technologies to execute on SOA multi-core processor (b) Illustrate performance improvements achieved (c) Demonstrate adapted capabilities with rover hardware, (2) Targeting three high-level autonomy technologies (a) Two for onboard data analysis (b) One for onboard command sequencing/planning, (3) Technologies identified as enabling for future missions, (4)Benefits will be measured along several metrics: (a) Execution time / Power requirements (b) Number of data products processed per unit time (c) Solution quality

multi-core↗

Experimental Results of Rover-Based Coring and Caching

Experimental results are presented for experiments performed using a prototype rover-based sample coring and caching system. The system consists of a rotary percussive coring tool on a five degree-of-freedom manipulator arm mounted on a FIDO-class rover and a sample caching subsystem mounted on the rover. Coring and caching experiments were performed in a laboratory setting and in a field test at Mono Lake, California. Rock abrasion experiments using an abrading bit on the coring tool were also performed. The experiments indicate that the sample acquisition and caching architecture is viable for use in a 2018 timeframe Mars caching mission and that rock abrasion using an abrading bit may be feasible in place of a dedicated rock abrasion tool.

coring↗

A Battery Health Monitoring Framework for Planetary Rovers

Batteries have seen an increased use in electric ground and air vehicles for commercial, military, and space applications as the primary energy source. An important aspect of using batteries in such contexts is battery health monitoring. Batteries must be carefully monitored such that the battery health can be determined, and end of discharge and end of usable life events may be accurately predicted. For planetary rovers, battery health estimation and prediction is critical to mission planning and decision-making. We develop a model-based approach utilizing computaitonally efficient and accurate electrochemistry models of batteries. An unscented Kalman filter yields state estimates, which are then used to predict the future behavior of the batteries and, specifically, end of discharge. The prediction algorithm accounts for possible future power demands on the rover batteries in order to provide meaningful results and an accurate representation of prediction uncertainty. The framework is demonstrated on a set of lithium-ion batteries powering a rover at NASA.

prediction↗

The Challenges in Applying Magnetroesistive Sensors on the 'Curiosity' Rover

Magnetoresistive Sensors were selected for use on the motor encoders throughout the Curiosity Rover for motor position feedback devices. The Rover contains 28 acuators with a corresponding number of encoder assemblies. The environment on Mars provides opportunities for challenges to any hardware design. The encoder assemblies presented several barriers that had to be vaulted in order to say the rover was ready to fly. The environment and encoder specific design features provided challenges that had to be solved in time to fly.

Radioisotope Thermoelectric Gererator (RTG)↗

An Integrated Architecture for Cooperation Rovers

The paper presents a rover execution architecture for controlling multiple, cooperating rovers. The overall goal of this architecture is to coordinate multiple rovers in performing complex tasks for planetary science.

multi-rover↗