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NASA NTRS2006

Battery Control Boards for Li-Ion Batteries on Mars Exploration Rovers

Rechargeable Lithium-ion batteries have been operating successfully on both Spirit and Opportunity rovers for the last two years, which includes six months of Assembly Launch and Test Operations (ATLO), seven months of cruise and about eleven months of surface operations. The Battery Control Boards designed and fabricated in-house would protect cells against overcharge and over-discharge and provide cell balance. Their performance has thus far been quite satisfactory. The ground data o the mission simulation battery project little capacity loss of less than 3% during cruise and 180 sols. Batteries are poised to extend the mission beyond six months, if not a couple of years.

Ewell, R.↗

NASA NTRS2006

Concept for a radioisotope powered dual mode lunar rover

Over three decades ago, the Apollo missions manifestly demonstrated the value of a lunar rover to expand the exploration activities of lunar astronauts. The stated plan of the new Vision for Space Exploration to establish a permanent presence on the moon in the next decades gives new impetus to providing long range roving and exploration capability in support of the siting, construction, and maintenance of future human bases. The incorporation of radioisotope power systems and telerobotic capability in the design has the potential to significantly expand the capability of such a rover, allowing continuous operation during the full lunar day/night cycle, as well as enabling exploration in permanently shadowed regions that may be of interest to humans for the resources they may hold. This paper describes a concept that builds on earlier studies originated in the Apollo program for a Dual Mode (crewed and telerobotic) Lunar Roving Vehicle (DMLRV). The goal of this vehicle would be to provide a multipurpose infrastructure element and remote science platform for the exploration of the moon. The DMLRV would be essential for extending the productivity of human exploration crews, and would provide a unique capability for diverse long-range, long-duration science exploration between human visits. With minimal reconfiguration this vehicle could also provide the basic platform to support a range of site survey and preparation activities in anticipation of the establishment of a permanent human presence on the moon. A conceptual design is presented for the DMLRV, including discussion of mission architecture, vehicle performance, representative science payload accommodation, and equipment and crew radiation considerations.

radioisotope power system↗

NASA NTRS2016

Detection of Northern Hemisphere Transient Baroclinic Eddies at Gale Crater Mars

The Rover Environmental Monitoring Station (REMS) on the Mars Science Laboratory’s (MSL) Curiosity rover has been operating in Gale Crater Mars (4.5°S, 137.4°E) for over 2 Mars years. Analysis of its pressure data, which have a precision of approximately 0.2 Pa (see Haberle et al., 2014; Harri et al., 2014), reveal temporal oscillations in its seasonally de-trended daily averaged pressures at some seasons with 2-5 Pa amplitudes that have periods similar to those observed at the Viking Lander 2 (VL-2) site (48.3°N, 134.0°E) several decades ago. As illustrated in Fig 1 there are clear peaks in the variance at a frequency f approximately 0.45 and 0.06 per sol for the fall season of Mars Year (MY) 31, and at f approximately 0.15 and 0.06 per sol for MY 32. These frequencies correspond to periods of 2.2, 6.7, and 16.7 sols, and are very similar to those observed at VL-2 (Fig 2, and see Barnes, 1980). Since orbital imaging data show dust frontal systems associated with eastward traveling baroclinic eddies that occasionally cross the equator (Wang et al., 2003), these findings suggest that MSL may be seeing their signature in its pressure data. To make this case we show that (a) the spectral peaks in the MSL are not only similar to those at VL-2, they have the same seasonal variation, (b) at least for some seasons the peaks are statistically significant and not likely due to random noise in the data, and (c) Global Circulation Model (GCM) results from the Ames GCM support this interpretation.

The Rover Environmental Monitoring Station (REMS)↗

NASA NTRS2006

From Prime to Extended Mission: Evolution of the MER Tactical Uplink Process

To support a 90-day surface mission for two robotic rovers, the Mars Exploration Rover mission designed and implemented an intensive tactical operations process, enabling daily commanding of each rover. Using a combination of new processes, custom software tools, a Mars-time staffing schedule, and seven-day-a-week operations, the MER team was able to compress the traditional weeks-long command-turnaround for a deep space robotic mission to about 18 hours. However, the pace of this process was never intended to be continued indefinitely. Even before the end of the three-month prime mission, MER operations began evolving towards greater sustainability. A combination of continued software tool development, increasing team experience, and availability of reusable sequences first reduced the mean process duration to approximately 11 hours. The number of workshifts required to perform the process dropped, and the team returned to a modified 'Earth-time' schedule. Additional process and tool adaptation eventually provided the option of planning multiple Martian days of activity within a single workshift, making 5-day-a-week operations possible. The vast majority of the science team returned to their home institutions, continuing to participate fully in the tactical operations process remotely. MER has continued to operate for over two Earth-years as many of its key personnel have moved on to other projects, the operations team and budget have shrunk, and the rovers have begun to exhibit symptoms of aging.

mission operations↗

NASA NTRS1988

Concepts for autonomous flight control for a balloon on Mars

Balloons operating as airborne rovers have been suggested as ideal candidates for early exploration of the Martian surface. An international study team composed of scientists from the U.S.S.R., France, and the U.S.A. is planning the launching in 1994 of a balloon system to fly on Mars. The current likely design is a dual thermal/gas balloon that consists of a gas balloon suspended above a solar-heated thermal balloon. At night, the thermal balloon provides no lift, and the balloon system drifts just above the Martian surface; the lift of the gas balloon is just sufficient to prevent the science payload from hitting the ground. During the day, the balloon system flies at an altitude of 4 to 5 kilometers, rising due to the added lift provided by the thermal balloon. Over the course of a single Martian day, there may be winds in several directions, and in fact it can be expected that there will be winds simultaneously in different directions at different altitudes. Therefore, a balloon system capable of controlling its own altitude, via an autonomous flight control system, can take advantage of these different winds to control its direction, thereby greatly increasing both its mission utility and its longevity.

Heinsheimer, Thomas F.↗

NASA NTRS1991

Potential converter for laser-power beaming

Future space missions, such as those associated with the Space Exploration Initiative (SEI), will require large amounts of power for operation of bases, rovers, and orbit transfer vehicles. One method for supplying this power is to beam power from a spaced based or Earth based laser power station to a receiver where laser photons can be converted to electricity. Previous research has described such laser power stations orbiting the Moon and beaming power to a receiver on the surface of the Moon by using arrays of diode lasers. Photovoltaic converters that can be efficiently used with these diode lasers are described.

Walker, Gilbert H.↗

NASA NTRS1993

Sources Sought for Innovative Scientific Instrumentation for Scientific Lunar Rovers

Lunar rovers should be designed as integrated scientific measurement systems that address scientific goals as their main objective. Scientific goals for lunar rovers are presented. Teleoperated robotic field geologists will allow the science team to make discoveries using a wide range of sensory data collected by electronic 'eyes' and sophisticated scientific instrumentation. rovers need to operate in geologically interesting terrain (rock outcrops) and to identify and closely examine interesting rock samples. Enough flight-ready instruments are available to fly on the first mission, but additional instrument development based on emerging technology is desirable. Various instruments that need to be developed for later missions are described.

Meyer, C.↗

NASA NTRS1993

The first lunar outpost: The design reference mission and a new era in lunar science

The content of the First Lunar Outpost (FLO) Design Reference Mission has been formulated and a 'strawman' science program has been established. The mission consists of two independent launches using heavy lift vehicles that land directly on the lunar surface. A habitat module and support systems are flown to the Moon first. After confirmation of a successful deployment of the habitat systems, the crewed lunar lander is launched and piloted to within easy walking distance (2 km) of the habitat. By eliminating the Apollo style lunar orbit rendezvous, landing sites at very high latitudes can be considered. A surface rover and the science experiments will accompany the crew. The planned stay time is 45 days, two lunar days and one night. A payload of 3.3 metric tons will support a series of geophysics, geology, astronomy, space physics, resource utilization, and life science experiments. Sample return is 150 to 200 kg. The rover is unpressurized and can carry four astronauts or two astronauts and 500 kg of payload. The rover can also operate in robotic mode with the addition of a robotics package. The science and engineering experiment strategy is built around a representative set of place holder experiments.

Lofgren, Gary E.↗

NASA NTRS1996

Lunar Limb Observatory: An Incremental Plan for the Utilization, Exploration, and Settlement of the Moon

This paper proposes a comprehensive incremental program, Lunar Limb Observatory (LLO), for a return to the Moon, beginning with robotic missions and ending with a permanent lunar settlement. Several recent technological developments make such a program both affordable and scientifically valuable: robotic telescopes, the Internet, light-weight telescopes, shared- autonomy/predictive graphics telerobotic devices, and optical interferometry systems. Reasons for focussing new NASA programs on the Moon include public interest, Moon-based astronomy, renewed lunar exploration, lunar resources (especially helium-3), technological stimulus, accessibility of the Moon (compared to any planet), and dispersal of the human species to counter predictable natural catastrophes, asteroidal or cometary impacts in particular. The proposed Lunar Limb Observatory would be located in the crater Riccioli, with auxiliary robotic telescopes in M. Smythii and at the North and South Poles. The first phase of the program, after site certification, would be a series of 5 Delta-launched telerobotic missions to Riccioli (or Grimaldi if Riccioli proves unsuitable), emplacing robotic telescopes and carrying out surface exploration. The next phase would be 7 Delta-launched telerobotic missions to M. Smythii (2 missions), the South Pole (3 missions), and the North Pole (2 missions), emplacing robotic telescopes to provide continuous all-sky coverage. Lunar base establishment would begin with two unmanned Shuttle/Fitan-Centaur missions to Riccioli, for shelter emplacement, followed by the first manned return, also using the Shuttle/Fitan-Centaur mode. The main LLO at Riccioli would then be permanently or periodically inhabited, for surface exploration, telerobotic rover and telescope operation and maintenance, and support of Earth-based student projects. The LLO would evolve into a permanent human settlement, serving, among other functions, as a test area and staging base for the exploration, settlement, and terraforming of Mars.

Lowman, Paul. D., Jr.↗

NASA NTRS2000

Orbital SAR and Ground-Penetrating Radar for Mars: Complementary Tools in the Search for Water

The physical structure and compositional variability of the upper martian crust is poorly understood. Optical and infrared measurements probe at most the top few cm of the surface layer and indicate the presence of layered volcanics and sediments, but it is likely that permafrost, hydrothermal deposits, and transient liquid water pockets occur at depths of meters to kilometers within the crust. An orbital synthetic aperture radar (SAR) can provide constraints on surface roughness, the depth of fine-grained aeolian or volcanic deposits, and the presence of strongly absorbing near-surface deposits such as carbonates. This information is crucial to the successful landing and operation of any rover designed to search for subsurface water. A rover-based ground-penetrating radar (GPR) can reveal layering in the upper crust, the presence of erosional or other subsurface horizons, depth to a permafrost layer, and direct detection of near-surface transient liquid water. We detail here the radar design parameters likely to provide the best information for Mars, based on experience with SAR and GPR in analogous terrestrial or planetary environments.

Campbell, B. A.↗

NASA NTRS2005

Multi-Target Single Cycle Instrument Placement

This presentation is about the robotic exploration of Mars using multiple targets command cycle, safe instrument placements, safe operation, and K9 Rover which has a 6 wheel steer rocket-bogey chassis (FIDO, MER), 70% MER size, 1.2 GHz Pentium M laptop running Linux OS, Odometry and compass/inclinometer, CLARAty architecture, 5 DOF manipulator w/CHAMP microscopic camera, SciCams, NavCams and HazCams.

Pedersen, Liam↗

NASA NTRS2004

Advanced mobility avionics : a reconfigurable mirco-avionics platform for the future needs of small planetary rovers and micospacecraft

Future small and micro-missions, such as Mars Scouts and Deep Space probes, require a new look at highly integrated, re-configurable, low power avionics. This paper will present our plans for developing a scalable, configurable, and highly integrated 32-bit embedded platform capable of implementing computationally intensive signal processing and control algorithms in space flight instruments and systems. This platform is designed to service the need of both small and large spacecraft and planetary rovers that will operate within moderate radiation environments. Some of the key characteristics of this platform are its small size, low power, high performance, and flexibility. This estimated 10 fold reduction in both size and power over state-of-the-art processing platforms will enable this new product to act as the core of a low-cost mobility system for a wide range of missions.

reconfigurable↗

NASA NTRS2010

EVA Physiology, Systems and Performance [EPSP] Project

This viewgraph presentation gives a general overview of the biomedical and technological challenges of Extravehicular Activity (EVA). The topics covered include: 1) Prebreathe Protocols; 2) Lunar Suit Testing and Development; and 3) Lunar Electric Rover and Exploration Operations Concepts.

Gernhardt, Michael L.↗

NASA NTRS2013

A Multi-Environment Thermal Control System With Freeze-Tolerant Radiator

Future space exploration missions require advanced thermal control systems (TCS) to dissipate heat from spacecraft, rovers, or habitats operating in environments that can vary from extremely hot to extremely cold. A lightweight, reliable TCS is being developed to effectively control cabin and equipment temperatures under widely varying heat loads and ambient temperatures. The system uses freeze-tolerant radiators, which eliminate the need for a secondary circulation loop or heat pipe systems. Each radiator has a self-regulating variable thermal conductance to its ambient environment. The TCS uses a nontoxic, water-based working fluid that is compatible with existing lightweight aluminum heat exchangers. The TCS is lightweight, compact, and requires very little pumping power. The critical characteristics of the core enabling technologies were demonstrated. Functional testing with condenser tubes demonstrated the key operating characteristics required for a reliable, freeze-tolerant TCS, namely (1) self-regulating thermal conductance with short transient responses to varying thermal loads, (2) repeatable performance through freeze-thaw cycles, and (3) fast start-up from a fully frozen state. Preliminary coolant tests demonstrated that the corrosion inhibitor in the water-based coolant can reduce the corrosion rate on aluminum by an order of magnitude. Performance comparison with state-of-the-art designs shows significant mass and power saving benefits of this technology.

Chen, Weibo↗

NASA NTRS2011

Wake Cycle Robustness of the Mars Science Laboratory Flight Software

The Mars Science Laboratory (MSL) is a spacecraft being developed by the Jet Propulsion Laboratory (JPL) for the purpose of in-situ exploration on the surface of Mars. The objective of MSL is to explore and quantitatively assess a local region on the Martian surface as a habitat for microbial life, past or present. This objective will be accomplished through the assessment of the biological potential of at least one target environment, the characterization of the geology and geochemistry of the landing region, an investigation of the planetary process relevant to past habitability, and a characterization of surface radiation. For this purpose, MSL incorporates a total of ten scientific instruments for which functions are to include, among others, atmospheric and descent imaging, chemical composition analysis, and radiation measurement. The Flight Software (FSW) system is responsible for all mission phases, including launch, cruise, entry-descent-landing, and surface operation of the rover. Because of the essential nature of flight software to project success, each of the software modules is undergoing extensive testing to identify and correct errors.

Whitehill, Robert↗

NASA NTRS2016

Multi-Mission Radioisotope Thermoelectric Generator Experience on Mars

The Mars Science Laboratory (MSL) Curiosity rover has been operating on Mars using the F1 Multi-Mission Radioisotope Thermoelectric Generator (MMRTG) for over one and one-half Mars years (over three Earth years). During this extended period, Curiosity has provided a wealth of information about operating with a MMRTG in the Mars surface environment. This paper discusses MMRTG performance over the life of the mission as affected not only by expected radioisotope degradation, but also by the thermal environment, including seasonal, wind, and time-of-sol effects. Additionally, issues related to MMRTG internal shorts will be discussed including detection, impacts on operations, and clearing the shorts.

RTG↗

NASA NTRS1997

The Mars Pathfinder Mission

On July 4th, 1997, Mars Pathfinder became the third spacecraft to successfully land on the planet Mars. The mission's primary objective was to demonstrate a low-cost system for delivering a small science payload to the surface of Mars, and to test the operation of a rover.

composition↗

NASA NTRSDate not supplied

Biomarkers Detection With the Autonomous and Remotely Operated SOLID-LDChip Instrument in A Mars Drilling Simulating Campaign

One of the main goals in Mars exploration is to determine whether life has ever existed on the red planet. To achieve this goal, it is important to verify the performance, robustness, and maturity of instrumentation devoted to life detection, for example through field-testing in Mars analog environments.The Atacama Desert is considered one of the best terrestrial analogs of the surface of Mars due to abrupt temperature shifts, dryness, high UV radiation, and extremely low biomass. This, together with the lack of vegetation and the geochemistry of the regolith, make it an ideal scenario for testing instrumentation, performance, and concepts of operations. The Atacama Rover Astrobiology Drilling Studies (ARADS) is a NASA PSTAR project conceived for maturing and testing life-detection instrumentation in the Atacama Desert(1). The project is based on the K-REX2 rover equipped with a robotic 1-meter arm that delivers samples toon board instruments. This includes SOLID3.1 (Signs of Life Detector), designed as a life-detection instrument for finding complex organic molecules by means of the LDCHip (Life Detector Chip), an antibody microarray sensor(2). The instrument can extract organic compounds from soil, rocks, and sediments into a liquid solvent in the extraction cell (EC), allowing the search for hundreds of microbial molecular biomarkers at once (3). The robustness and reliability of SOLID were tested in the 2019 ARADS Mars drilling simulating campaign and confirmed with other analytical methods.

M Moreno-Paz↗