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All sourcesNASA NTRSDOE OSTI
NASA NTRS2022

Making or Breaking a Rover: System Engineering Parameters On-Board the Mars 2020 Perseverance Rover

On February 18, 2021, Perseverance, NASA’s Jet Propulsion Laboratory’s (JPL’s) Mars 2020 Rover, successfully landed on Mars with all systems nominal, despite the risk surrounding the over 200,000 internal flight parameters that had to be properly configured. The Perseverance team defines these parameters as software variables that are configurable, commandable and retrievable from Earth. In 2015, the Mars 2020 project leaders focused on improving systems engineering of parameters based on their experiences from parameter management on previous Mars rovers (Curiosity, Opportunity, Spirit, and Pathfinder) and parameter failures of past missions, such as the mission-ending parameter of the Mars Climate Orbiter. The new rigorous development process allowed for efficient certification and effective implementation of the parameters, allowing the rover to approach and land on the red planet (the most challenging phase of the mission) with zero parameter issues. Although successful, the Perseverance team learned many lessons for how to better manage parameters for the continued surface operations of the Mars 2020 mission and future missions. This paper will discuss eight parameter-management topics for the Perseverance Mission. The first is parameter definition: how we define parameters on our mission, where they are physically located on the vehicle, and why we have so many of them. The second topic is the updated parameter flight software module from Curiosity, including details on the 99% reduction in parameter commands, new bulk configuration capabilities, and improved parameter traceability. The third topic is parameter selection for different mission phases; this includes improving and tweaking our preferred parameter settings until they become certification candidates and managing parameter configurations based on test venue throughout the mission life cycle. The fourth topic is our flight certification process; this includes certification of flight values for four different epochs in the mission: Launch, Entry Decent and Landing (EDL) - 6days, Landing + 5 Sols (Martian Days, still on Cruise Flight Software), and once are on Surface Flight Software (FSW). The fifth topic covers in-flight command implementation, along with details on testing, validation, and verification of those commands. In the sixth section, we will explain our use of open-source management tools, including how we used GitHub for version control and management approvals. The seventh topic will describe the ground tools used in operations, including capabilities of the in-house built tool called Parasol. The eighth and final topic will dig into lessons learned for improving parameter management in the future of this mission and others.

Roth, Brian↗
NASA NTRS2022

Making or Breaking a Rover- Systems Engineering Parameters On-Board the Mars 2020 Perseverance Rover

On February 18, 2021, Perseverance, NASA’s Jet Propulsion Laboratory’s (JPL’s) Mars 2020 Rover, successfully landed on Mars with all systems nominal, despite the risk surrounding the over 200,000 internal flight parameters that had to be properly configured. The Perseverance team defines these parameters as software variables that are configurable, commandable and retrievable from Earth. In 2015, the Mars 2020 project leaders focused on improving systems engineering of parameters based on their experiences from parameter management on previous Mars rovers (Curiosity, Opportunity, Spirit, and Pathfinder) and parameter failures of past missions, such as the mission-ending parameter of the Mars Climate Orbiter. The new rigorous development process allowed for efficient certification and effective implementation of the parameters, allowing the rover to approach and land on the red planet (the most challenging phase of the mission) with zero parameter issues. Although successful, the Perseverance team learned many lessons for how to better manage parameters for the continued surface operations of the Mars 2020 mission and future missions. This paper will discuss eight parameter-management topics for the Perseverance Mission. The first is parameter definition: how we define parameters on our mission, where they are physically located on the vehicle, and why we have so many of them. The second topic is the updated parameter flight software module from Curiosity, including details on the 99% reduction in parameter commands, new bulk configuration capabilities, and improved parameter traceability. The third topic is parameter selection for different mission phases; this includes improving and tweaking our preferred parameter settings until they become certification candidates and managing parameter configurations based on test venue throughout the mission life cycle. The fourth topic is our flight certification process; this includes certification of flight values for four different epochs in the mission: Launch, Entry Decent and Landing (EDL) - 6days, Landing + 5 Sols (Martian Days, still on Cruise Flight Software), and once are on Surface Flight Software (FSW). The fifth topic covers in-flight command implementation, along with details on testing, validation, and verification of those commands. In the sixth section, we will explain our use of open-source management tools, including how we used GitHub for version control and management approvals. The seventh topic will describe the ground tools used in operations, including capabilities of the in-house built tool called Parasol. The eighth and final topic will dig into lessons learned for improving parameter management in the future of this mission and others.

Roth, Brian↗
NASA NTRS2023

Tunable Laser Spectrometers for Planetary Science

Distinguishing planetary formation and evolution pathways and understanding the origins of volatiles on planetary bodies requires determination of relative abundances and isotope ratios in the noble gases, and also of the isotope ratios in C, H, N, O and S at high precisions. Traditional planetary mass spectrometers uniquely provide excellent survey capability including the noble gas relative abundances and their isotope ratios. However, to distinguish planetary evolution models for the outer planets, stable isotope ratios in C and O require precisions of ∼10 or better, readily achievable with a tunable laser spectrometer (TLS). As demonstrated on the Mars Curiosity rover, and as planned for a now-selected NASA Venus mission, tunable laser spectrometers play a unique role synergistic with the capabilities of planetary mass spectrometers. The TLS technique of recording infrared absorption spectra at ultrahigh resolution (resolving power λ/δλ ∼ 5 million) provides unambiguous detection of a wide variety of gases such as H2O, H2O2, H2CO, HOCl, NO, NO2, HNO3, N2O, O3, CO, CO2, NH3, N2H4, PH3, H2S, SO2, OCS, HCl, HF, O2, HCN, and CH4, C2H2, C2H4, C2H6 at parts-per-billion levels. Through line-depth or line-area ratio comparisons of adjacent spectral lines, planetary TLS instruments can achieve isotope ratio measurements in C, H, N, O, and S molecules at precisions of ∼1–2, including for the triple isotope components of O and S. Expected performance of TLS instruments for Venus, Saturn, Enceladus and Uranus will be described as constrained by actual measurements reported at Mars on the Curiosity rover.

Planetary↗
NASA NTRS2024

Surface Gravimetry Using Rover Navigation Systems

This prototype seeks to demonstrate the utility of repurposing a Micro-ElectroMechancical (MEMS) Inertial measurement Unit (IMU) to perform surface gravimetry on a rover. Gravimetry is a common analytical tool used for probing density distributions in the subsurface of a planetary body. Historically, extraterrestrial gravimetry has been confined to orbital platforms. While orbital surveys allow for the construction of global gravity models, the spatial resolution of the data is constrained by the platform’s orbital altitude and high inherent speed. Data collected at or near the surface would increase spatial resolution and allow finer-scale crustal structure to be resolved. To date, there have been only two extraterrestrial surface gravity surveys: the Apollo 17 Traverse Gravimeter Experiment and a survey using the MEMS accelerometers contained within the Curiosity rover’s IMUs. The Curiosity survey highlighted the potential of using MEMS technology to perform planetary gravimetry, albeit with lower sensitivities than traditional surface gravimeters. MEMS accelerometers are included on every rover platform as part of the IMU navigation systems. MEMS accelerometers have low mass, cost, and power requirements while being robust across a range of environments, whereas traditional gravimeters are fragile, costly, and relatively massive (≥8kg versus ≈50g for MEMS IMUs). Thus, the emergence of MEMS gravimeters provides a low-risk and cost-effective method for performing planetary surface gravimetry [3,4]. Here, we present a method to recalibrate the MEMS accelerometers in rover IMUs to collect gravimetric measurements. Such measurements could assist current and future rover missions and support wider efforts to mature MEMS gravimeters.

C S Lawson↗
DOE OSTI2014

Measurements of Space Radiation On, and On the Way To, Mars - Paper 123

The Mars Science Laboratory (MSL) spacecraft, with the Curiosity rover inside, was launched to Mars on November 25, 2011, and landed successfully on August 6, 2012. Curiosity's science payload includes ten science instruments, one of which is the Radiation Assessment Detector, RAD. The radiation environment in deep space is harsh, and is a limiting factor in planning future human missions. RAD's measurements of the radiation environments on Mars, and on a spacecraft during transit to Mars, are important precursors to a crewed mission. RAD is a compact instrument with a mass of just 1.56 kg. Despite its small size, RAD is capable of measuring the charged and neutral particles that make up the complex environments created by Galactic Cosmic Rays (GCRs) and Solar Energetic Particles (SEPs) as they traverse shielding materials. The space radiation environment consists of a continuous flux of GCRs, the intensity of which is modulated by solar activity. At or near times of solar maximum, the interplanetary magnetic field is relatively strong, and lower-energy GCRs are screened. At solar minimum, the field weakens with a corresponding increase in GCR fluxes. SEP events are sporadic, and are more likely to occur near solar maximum. Both GCRs and SEPs present potential health risks to astronauts, but the risks are of different types. The dose rate from GCRs is modest and cannot cause acute health effects. However serious late effects may arise; of particular concern are the largely unknown health effects of exposure to high-energy GCR heavy ions. There is no terrestrial analog for this exposure and this leads to large uncertainties in health risk estimates. In contrast, SEP events can be extremely intense and could potentially cause acute health effects, but they are also dominated by protons with energies below 100 MeV, which means that shielding is a practical and effective option. (authors)

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2017

In Situ Detection of Boron by ChemCam on Mars

Here, we report the first in situ detection of boron on Mars. Boron has been detected in Gale crater at levels <0.05 wt % B by the NASA Curiosity rover ChemCam instrument in calcium-sulfate-filled fractures, which formed in a late-stage groundwater circulating mainly in phyllosilicate-rich bedrock interpreted as lacustrine in origin. We also consider two main groundwater-driven hypotheses to explain the presence of boron in the veins: leaching of borates out of bedrock or the redistribution of borate by dissolution of borate-bearing evaporite deposits. Our results suggest that an evaporation mechanism is most likely, implying that Gale groundwaters were mildly alkaline. On Earth, boron may be a necessary component for the origin of life; on Mars, its presence suggests that subsurface groundwater conditions could have supported prebiotic chemical reactions if organics were also present and provides additional support for the past habitability of Gale crater.

58 GEOSCIENCES↗
DOE OSTI2018

Alteration trends and geochemical source region characteristics preserved in the fluviolacustrine sedimentary record of Gale crater, Mars

The Mars Science Laboratory’s Chemistry and Camera (ChemCam) instrument suite on-board the Curiosity rover has analysed ~1200 sedimentary targets during the mission up to sol 1482. These targets have included sedimentary rock, diagenetic features (e.g., fracture-associated alteration halos, mineral veins, nodules, and erosion resistant raised ridges), active aeolian fines, soils and float. We have isolated ChemCam geochemical trends relating to diagenetic features and alteration products from those of the sedimentary rock in order to identify the compositional characteristics of Gale crater’s sediment source regions. The effects of grain size variation on sedimentary unit geochemistry have been taken into account by grouping and analysing geological units according to grain size. With obvious diagenetic features removed from the database, and predominately isochemical aqueous alteration inferred for the Mt Sharp Group samples, we propose that source region composition is a stronger source of geochemical change between the Bradbury and Mt Sharp Groups than open-system alteration. Additionally, a lack of correlation between the Chemical Index of Alteration (CIA) values and SiO 2 , MgO or FeO T indicates that the slight increase in chemical weathering of the Mt Sharp Group sediments was insufficient to overprint sediment source compositional signatures. This has led to the identification of five unique igneous endmember compositions which we hypothesise to have contributed to Gale crater’s stratigraphic record. These endmembers are: (1) a subalkaline basalt, compositionally similar to the tholeiitic Adirondack Class basalts of Gusev crater, and dominant within the finer grained units up to the base of Mt Sharp; (2) a trachybasalt, mostly identified within conglomerate units from the Darwin waypoint to the base of Mt Sharp; (3) a potassium-rich volcanic source, determined from strong potassium enrichment and a high abundance of sanidine that is most dominant in the fluvial sandstones and conglomerates of the Kimberley formation; (4) a highly evolved, silica-rich igneous source that correlates with the presence of tridymite, and is recorded in the lacustrine mudstone of Mt Sharp’s Marias Pass locality; and, (5) a fractionated, relatively SiO 2 -rich subalkaline basalt, seen to have influenced the composition of mudstone deposited in the lower part of the Mt Sharp Group. Endmembers (1), (2), (3), and (4) have previously been identified at specific waypoints along the rover’s traverse, but we show that their influence extends throughout Gale’s stratigraphic record. The occurrence of detected endmembers is also strongly correlated with stratigraphic position, which suggests changing sediment source regions with time. We conclude that Gale sediment provenances were much more varied than suggested by the largely homogenous, globally-distributed Martian basalt inferred from orbit, showing that complex magmatic assemblages exist within the ancient highland crust surrounding Gale.

58 GEOSCIENCES↗
DOE OSTI2020

Origin and composition of three heterolithic boulder- and cobble-bearing deposits overlying the Murray and Stimson formations, Gale Crater, Mars

Heterolithic, boulder-containing, pebble-strewn surfaces occur along the lower slopes of Aeolis Mons (“Mt. Sharp”) in Gale crater, Mars. They were observed in HiRISE images acquired from orbit prior to the landing of the Curiosity rover. The rover was used to investigate three of these units named Blackfoot, Brandberg, and Bimbe between sols 1099 and 1410. These unconsolidated units overlie the lower Murray formation that forms the base of Mt. Sharp, and consist of pebbles, cobbles and boulders. Blackfoot also overlies portions of the Stimson formation, which consists of eolian sandstone that is understood to significantly postdate the dominantly lacustrine deposition of the Murray formation. Blackfoot is elliptical in shape (62 x 26 m), while Brandberg is nearly circular (50 x 55 m), and Bimbe is irregular in shape, covering about ten times the area of the other two. The largest boulders are 1.5–2.5 m in size and are interpreted to be sandstones. As seen from orbit, some boulders are light-toned and others are dark-toned. Rover-based observations show that both have the same gray appearance from the ground and their apparently different albedos in orbital observations result from relatively flat skyfacing surfaces. Chemical observations show that two clasts of fine sandstone at Bimbe have similar compositions and morphologies to nine ChemCam targets observed early in the mission, near Yellowknife Bay, including the Bathurst Inlet outcrop, and to at least one target (Pyramid Hills, Sol 692) and possibly a cap rock unit just north of Hidden Valley, locations that are several kilometers apart in distance and tens of meters in elevation. These findings may suggest the earlier existence of draping strata, like the Stimson formation, that would have overlain the current surface from Bimbe to Yellowknife Bay. Compositionally these extinct strata could be related to the Siccar Point group to which the Stimson formation belongs.

58 GEOSCIENCES↗
DOE OSTI2021

Improving ChemCam LIBS long-distance elemental compositions using empirical abundance trends

The ChemCam instrument on the Curiosity rover provides chemical compositions of Martian rocks and soils using remote laser-induced breakdown spectroscopy (LIBS). The elemental calibration is stable as a function of distance for Ti, Fe, Mg, and Ca. The calibration shows small, systematically increasing abundance trends as a function of distance for Al, Na, K, and to some extent, Si. The distance effect is known to be due to a dependence with distance on the relative strengths of atomic transition lines. Emission lines representing transitions from relatively low energy levels remain intense at longer distances while emission lines representing transitions from higher energy levels decrease in intensity more rapidly as a function of distance. The multivariate algorithms used to determine elemental compositions rely on a large number of emission lines in many cases, so rather than trying to correct all emission lines, a study was made of the predicted compositions as a function of distance, in order to determine an empirical correction. Abundance trends can be well approximated by a linear trend with distance within the ranges of abundances and distances observed up to ~6 m. Data from 11 distinct geological members and data groups of the Murray formation in Gale crater, Mars, were used to form the model, selecting the members and data groups yielding the best statistics. The model was tested using data from several targets observed from two different distances, and using data from the Kimberley formation, the composition of which is significantly different from the Murray formation, showing that the model works on other compositions beyond those used to build the model. For long-distance observations up to ~6 m, corrections can be made back to an equivalent composition at the median distance of ChemCam observations (2.6 m). Finally, the model has been validated up to 6.2 m, although ChemCam is able to observe bedrock targets to >7 m, and iron meteorites to distances of >9 m.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2019

Mars Science Laboratory Observations of Chloride Salts in Gale Crater, Mars

The Mars Science Laboratory Curiosity rover is traversing a sequence of stratified sedimentary rocks in Gale crater that contain varied eolian, fluviodeltaic, and lake deposits, with phyllosilicates, iron oxides, and sulfate salts. Here, we report the chloride salt distribution along the rover traverse. Chlorine is detected at low levels (<3 wt.%) in soil and rock targets with multiple MSL instruments. Isolated fine-scale observations of high chlorine (up to ≥15 wt.% Cl), detected using the ChemCam instrument, are associated with elevated Na 2 O and interpreted as halite grains or cements in bedrock. Halite is also interpreted at the margins of veins and in nodular, altered textures. We have not detected halite in obvious evaporitic layers. Instead, its scattered distribution indicates that chlorides emplaced earlier in particular members of the Murray formation were remobilized and reprecipitated by later groundwaters within Murray formation mudstones and in diagenetic veins and nodules.

58 GEOSCIENCES↗
NASA NTRS2014

The Deuterium to Hydrogen Ratio in the Water that Formed the Yellowknife Bay Mudstones in Gale Crater

A suite of isotope ratios of light elements in the present martian atmosphere (13C/12C, 15N/14N, 18O/16O, 38Ar/36Ar, and D/H) are all substantially enriched in the heavy element suggesting atmospheric loss to space over the past billions of years with preferential loss of the lighter isotope from each pair. In situ measurements from MSL's Sample Analysis at Mars (SAM) instrument [e.g. 1,2,3] have considerably refined previous measurements from the Viking mass spectrometers [e.g. 4], from remote spectroscopic observations [e.g. 5,6], and from martian meteorite studies [e.g. 7,8]. The persistence of habitable environments such as the ancient Yellowknife Bay lake recently revealed by measurements from the Curiosity rover [9] depends on the surface temperatures and the duration of an atmosphere thicker than that at present. Current and planned measurements from orbit with the Mars Express and MAVEN missions respectively intend to study the processes of atmospheric escape including solar wind interaction, sputtering, thermal escape, and dissociative recombination, and determine or refine the current rate of atmospheric loss caused by these and other mechanisms. The goal of these programs is to understand the physical processes sufficiently well so that robust extrapolations over the past billions of years can be made D/H is measured by both the Tunable Laser Spectrometer (TLS) and the Quadrupole Mass Spectrometer (QMS) of the SAM suite. to predict the atmospheric and surface conditions on early Mars. However, the study of the history of martian atmospheric evolution will be greatly facilitated if we are able to also directly measure the isotopic composition of volatiles captured in rocks that are representative of the ancient atmosphere. To date, D/H is one of the most promising candidates for this study since water is the most abundant volatile thermally released from the Yellowknife Bay phylosilicates discovered by the SAM and CheMin experiments of MSL and its

Yellowknife Bay↗
NASA NTRS2014

Detection and Quantification of Nitrogen Compounds in the First Drilled Martian Solid Samples by the Sample Analysis at Mars (SAM) Instrument Suite on the Mars Science Laboratory (MSL)

The Sample Analysis at Mars (SAM) instrument suite on the Mars Science Laboratory (MSL) Curiosity Rover detected both reduced and oxidized nitrogen-bearing compounds during the pyrolysis of surface materials at Yellowknife Bay in Gale Crater. Preliminary detections of nitrogen species include NO, HCN, ClCN, CH3CN, and TFMA (trifluoro-N-methyl-acetamide). Confirmation of indigenous Martian N-bearing compounds requires quantifying N contribution from the terrestrial derivatization reagents (e.g. N-methyl-N-tertbutyldimethylsilyltrifluoroacetamide, MTBSTFA and dimethylformamide, DMF) carried for SAM's wet chemistry experiment that contribute to the SAM background. Nitrogen species detected in the SAM solid sample analyses can also be produced during laboratory pyrolysis experiments where these reagents are heated in the presence of perchlorate, a compound that has also been identified by SAM in Mars solid samples.

Curiosity rover↗
NASA NTRS2013

Accuracy Analysis and Validation of the Mars Science Laboratory (MSL) Robotic Arm

The Mars Science Laboratory (MSL) Curiosity Rover is currently exploring the surface of Mars with a suite of tools and instruments mounted to the end of a five degree-of-freedom robotic arm. To verify and meet a set of end-to-end system level accuracy requirements, a detailed positioning uncertainty model of the arm was developed and exercised over the arm operational workspace. Error sources at each link in the arm kinematic chain were estimated and their effects propagated to the tool frames.A rigorous test and measurement program was developed and implemented to collect data to characterize and calibrate the kinematic and stiffness parameters of the arm. Numerous absolute and relative accuracy and repeatability requirements were validated with a combination of analysis and test data extrapolated to the Mars gravity and thermal environment. Initial results of arm accuracy and repeatability on Mars demonstrate the effectiveness of the modeling and test program as the rover continues to explore the foothills of Mount Sharp.

rovers↗
DOE OSTI2016

Zapping Rocks on Mars

Better understanding Mars means better understanding its geology. That’s why, sitting atop NASA’s Curiosity rover, is ChemCam, an instrument built by Los Alamos National Laboratory that shoots lasers at Martian rocks and analyzes the data. After nearly 1,500 rock zaps, ChemCam has uncovered some surprising facts about the Red Planet, including the discovery of igneous rocks. Soon, a new Los Alamos-built instrument—the SuperCam—will ride aboard the Mars 2020 rover and bring with it enhanced capabilities to unlock new secrets about the planet.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2016

Boron Discovered in Ancient Habitable Mars Groundwater

Boron was recently discovered in calcium-sulfate veins on Mars using the ChemCam instrument on NASA’s Curiosity Mars Rover. This is the first Mars mission to detect boron on the Red Planet. Los Alamos Post-Doctoral Student Patrick Gasda explains how this discovery helps us better understand the timescale of habitability on Mars.

36 MATERIALS SCIENCE↗
DOE OSTI2017

Los Alamos on Radio Café: Nina Lanza

First up in the new series is Los Alamos National Laboratory’s Nina Lanza from the Space and Remote Sensing group. Lanza is a planetary geologist who has been part of the Mars Curiosity Rover “ChemCam” team since 2012.

47 OTHER INSTRUMENTATION↗
DOE OSTI2017

Uncovering the Mysteries of Mars Habitability

Los Alamos scientists are uncovering clues about the habitability of ancient Mars using the ChemCam instrument that sits atop NASA’s Mars Curiosity rover. ChemCam has discovered 25 different elements on Mars—including manganese and boron—providing important information about conditions that could potentially have supported life on the Red Planet. Los Alamos is now developing a new instrument called SuperCam that will ride aboard the Mars 2020 rover and provide greater detail about the mineralogy and the presence of compounds related to the possibility of life on the surface of Mars.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗