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The Mars Exploration Rovers (MER'03), Spirit and Opportunity, represent the state of the art in rover operations on Mars. This paper presents validation experiments of different visual tracking algorithms using the rover's navigation camera.
Robotic missions to planetary surfaces are becoming more ambitious and of longer duration. The nominal mission timeline for the MER called Spirit currently on the Martian surface is 90 days, with extensions to 180 days depending on rover health. The upcoming 2009 MSL mission is planned to be 300-500 days and will possibly involve traverses on the order of a kilometer or more.
The Mars Exploration Rover Spirit recently set a record for the furthest distance traveled in a single sol on Mars. Future planetary exploration missions are expected to use even longer drives to position rovers in areas of high scientific interest. This increase provides the potential for a large rise in the number of new science collection opportunities as the rover traverses the Martian surface. In this paper, we describe the OASIS system, which provides autonomous capabilities for dynamically identifying and pursuing these science opportunities during longrange traverses. OASIS uses machine learning and planning and scheduling techniques to address this goal. Machine learning techniques are applied to analyze data as it is collected and quickly determine new science gods and priorities on these goals. Planning and scheduling techniques are used to alter the behavior of the rover so that new science measurements can be performed while still obeying resource and other mission constraints. We will introduce OASIS and describe how planning and scheduling algorithms support opportunistic science.
Lithium-ion batteries have contributed significantly to the success of NASA's Mars Rovers, Spirit and Opportunity that have been exploring the surface of Mars for the last two years and performing astounding geological studies to answer the ever-puzzling questions of life beyond Earth and the origin of our planets. Combined with the triple-junction solar cells, the lithium-ion batteries have been powering the robotic rovers, and assist in keeping the rover electronics warm, and in supporting nighttime experimentation and communications. The use of Li-ion batteries has resulted in significant benefits in several categories, such as mass, volume, energy efficiency, self discharge, and above all low temperature performance. Designed initially for the primary mission needs of 300 cycles over 90 days of surface operation, the batteries have been performing admirably, over the last two years. After about 670 days of exploration and at least as many cycles, there is little change in the end-of discharge (EOD) voltages or capacities of these batteries, as estimated from the in-flight data and corroborated by ground testing. Aided by such impressive durability from the Li-ion batteries, both from cycling and calendar life stand point, these rovers are poised to extend their exploration well beyond two years. In this paper, we will describe the performance characteristics of these batteries during launch, cruise phase and on the surface of Mars thus far.
Both Mars Global Surveyor (MGS) and Odyssey are currently in low altitude, nearly circular and highly inclined orbits about Mars. Thus, they are available adn compartible to serve as relay satellites for the Mars Exploration Rovers (MER) mission. Consequently, the MER project developed requirements for MGS to be overhead for MER-A (Spirit) at Gusev crater, at maximum elevation, mudway between lander separation and initial touchdown; in time, this was specified as 01/04/04. 04:24:55 UTC/SCET with a 30 sec tolerance.
n early 2004 JPL successfully landed two Rovers, named Spirit and Opportunity, on the surface of Mars after traveling >300 million miles over a 6-7 month period. In order to operate for extended duration on the surface of Mars, both Rovers are equipped with rechargeable Lithium-ion batteries, which were designed to aid in the launch, correct anomalies during cruise, and support surface operations in conjunction with a triple-junction deployable solar arrays. The requirements of the Lithium-ion battery include the ability to provide power at least 90 sols on the surface of Mars, operate over a wide temperature range (-20 C to +40 C), withstanding long storage periods (e.g., cruise period), operate in an inverted position, and support high currents (e.g., firing pyro events). In order to determine the viability of Lithium-ion technology to meet these stringent requirements, a comprehensive test program was implemented aimed at demonstrating the performance capability of prototype cells fabricated by Lithion, Inc. (Yardney Technical Products, Inc.). The testing performed includes, determining the (a) room temperature cycle life, (b) pulse capability as a function of temperature, (e) self-discharge and storage characteristics mission profile capability, (f) cycle life under mission simulation conditions, (g) impedance characteristics, (h) impact of cell orientation, and (i) performance in 8-cell engineering batteries. As will be discussed, the Lithium-ion prototype cells and batteries were demonstrated to meet, as well as, exceed the requirements defined by the mission.
This paper will discuss the system modeling for two nearly identical spacecrafts, Mars Exploration Rovers; Spirit and Opportunity.
In early 2004, JPL successfully landed two Rovers, named Spirit and Opportunity, on the surface of Mars after traveling > 300 million miles over a 6-7 month period. In order to operate for extended duration on the surface of Mars, both Rovers are equipped with rechargeable Lithium-ion batteries, which were designed to aid in the launch, correct anomalies during cruise, and support surface operations in conjunction with a triple-junction deployable solar arrays. The requirements of the Lithium-ion battery include the ability to provide power at least 90 sols on the surface of Mars, operate over a wide temperature range (-20(deg)C to +4O(deg)C), withstand long storage periods (e.g., cruise period), operate in an inverted position, and support high currents (e.g., firing pyro events). In order to determine the viability of meeting these requirements, ground testing was performed on a Rover Battery Assembly Unit (RBAU), consisting of two 8-cell 8 Ah lithium-ion batteries connected in parallel. The RBAU upon which the performance testing was performed is nearly identical to the batteries incorporated into the two Rovers currently on Mars. The testing performed includes, (a) performing initial characterization tests (discharge capacity at different temperatures), (b) simulating the launch conditions, (c) simulating the cruise phase conditions (including trajectory corrections), (d) simulating the entry, decent, and landing pulse load profile (if required to support the pyros) (e) simulating the Mars surface operation mission simulation conditions, as well as, (f) assessing performance capacity loss and impedance characteristics as a function of temperature and life. As will be discussed, the lithium-ion batteries (fabricated by LithiodYardney, Inc.) were demonstrated to far exceed the requirements defined by the mission, and are projected to support an extended mission (> 2 years) with margin to spare.
Recently, we have presented a concept for a hot-electron direct detector (HEDD) capable of counting single millimeter-wave photons. Such a detector meets the needs of future space far-infrared applications and can be used for background-limited detector arrays on missions like SPIRIT, 10-m filled aperture telescope, SAFIR, and SPECS.
A viewgraph presentation describing the Submillimeter Probe of the Evolution of Cosmic Structure (SPECS) mission is shown. The topics include: 1) Context: community planning and study status; 2) Science goals; 3) Mission requirements; 4) Mission concepts for SPIRIT and SPECS; and 5) Tethered formation flying, a key enabling technology.
Aerogels comprise a class of low-density, high porous solid objects consisting of dimensionally quasi-stable self-supported three-dimensional assemblies of nanoparticles. Aerogels are pursued because of properties above and beyond those of the individual nanoparticles, including low thermal conductivity, low dielectric constant and high acoustic impedance. Possible applications include thermal and vibration insulation, dielectrics for fast electronics, and hosting of functional guests for a wide variety of optical, chemical and electronic applications. Aerogels, however, are extremely fragile materials, hence they have found only limited application in some very specialized environments, for example as Cerenkov radiation detectors in certain types of nuclear reactors, aboard spacecraft as collectors of hypervelocity particles (refer to NASA's Stardust program) and as thermal insulators on planetary vehicles on Mars (refer to Sojourner Rover in 1997 and Spirit and Opportunity in 2004). Along these lines, the X-Aerogel is a new NASA-developed strong lightweight material that has resolved the fragility problem of traditional (native) aerogels. X-Aerogels are made by applying a conformal polymer coating on the surfaces of the skeletal nanoparticles of native aerogels (see Scanning Electron Micrographs). Since the relative amounts of the polymeric crosslinker and the backbone are comparable, X-Aerogels can be viewed either as aerogels modified by the templated accumulation of polymer on the skeletal nanoparticles, or as nanoporous polymers made by remplated casting of polymer on a nanostructured framework. The most striking feature of X-Aerogels is that for a nominal 3-fold increase in density (still a ultralighweight material), the mechanical strength can be up to 300 times higher than the strength of the underlying native aerogel. Thus, X-Aerogels combine a multiple of the specific compressive strength of steel, with the the thermal conductivity of styrofoam. X-Aerogels have been demonstrated with several polymers such as polyurethanes/polyureas, epoxies and polyolefins, while crosslinking of approximately 35 different oxide aerogels yields a range of dimensionally stable, porous lightweight materials with unique combinations of structural, magnetic and optical properties. The main theme in materials development for space exploration is multifunction. For example, use of one material for thermal insulation/structural component will free weight for useful payload. In that regard, X-aerogels are evaluated at NASA for cryogenic fuel storage tanks and for spacesuits. Along the same lines, major impact fro X-Aerogels is also expected in commercial applications for thermal/acoustic insulation, in catalytic reformers and converters, in filtration membranes and membranes for fuel cells, as platforms for optical, electrical and magnetic sensors, and as lightweight structural component for aircraft and satellites.
Much can be learned from well-written descriptions of the technical and organizational factors that lead to an accident. Subsequent analysis by third parties of investigation reports and associated evidence collected during the investigations can lead to additional insight. Much can also be learned from documented close calls that do not result in loss of life or a spacecraft, such as the Mars Exploration Rover Spirit software anomaly, the SOHO mission interruption, and the NEAR burn anomaly. Seven space shuttle incidents fall into the latter category: Rendezvous Target Failure On STS-41B; Rendezvous Radar Anomaly and Trajectory Dispersion-STS-32 ;Rendezvous Lambert Targeting Anomaly-STS-49; Rendezvous Lambert Targeting Anomaly-STS-51; Zero Doppler Steering Maneuver Anomaly-STS-59; Excessive Propellant Consumption During Rendezvous-STS-69; Global Positioning System Receiver and Associated Shuttle Flight Software Anomalies-STS-91 Procedural work-arounds or software changes prevented them from threatening mission success. Extensive investigations, which included the independent recreation of the anomalies by multiple Shuttle Program organizations, were the key to determining the cause, accurately assessing risk, and identifying software and software process improvements. Lessons learned from these incidents not only validated long-standing operational best practices, but serve to promote discussion and mentoring among Program personnel and are applicable to future space flight programs.
The Moessbauer spectrometers on the Mars Exploration Rovers (MER) Spirit (Gusev Crater) and Opportunity (Meridiani Planum) have each analyzed more than 100 targets during their ongoing missions (>1050 sols). Here we summarize the Fe-bearing phases identified to date and compare the results to Moessbauer analyses of martian meteorites and lunar samples. We use lunar samples as martian analogues because some, particularly the low-Ti Apollo 15 mare basalts, have bulk chemical compositions that are comparable to basaltic martian meteorites [1,2]. The lunar samples also provide a way to study pigeonite-rich samples. Pigeonite is a pyroxene that is not common in terrestrial basalts, but does often occur on the Moon and is present in basaltic martian meteorites
In Mars, the spirit of exploring an exciting and rewarding new frontier is alive. Mars not only offers a unique destination for exploration, but it is also a critical destination for the advancement of human society and preservation of humanity. The exploration of Mars will provide significant social and technological benefits to enhance life on Earth as well. International cooperation will not only be essential to the success of a human presence on Mars, but development of such interactions will jumpstart collaboration on global issues. The eventual commercialization of space holds tremendous opportunities for economic growth. Finally, there is an undeniable basic human need to explore and define our place in the universe. The overarching theme that ties together all of these reasons for exploration is to inspire and unite the global community to pursue a common cause that is much larger than disagreements over ethnic differences or national borders. Continuous inspiration of the public, the scientific community, and the community of Earth are required in order to explore Mars.
The martian surface is covered with debris formed by several mechanisms and mobilized by various processes. Volcanism, impact, physical weathering and chemical alteration combine to produce particles of sizes from dust to boulders composed of primary mineral and rock fragments, partially altered primary materials, alteration minerals and shock-modified materials from all of these. Impacts and volcanism produce localized deposits. Winds transport roughly sand-sized material over intermediate distances, while periodic dust storms deposit a global dust layer of the finest fraction. The compositions of clastic sediments can be used to evaluate regional differences in crustal composition and/or weathering processes. Here we examine the growing body of chemical data on soils in Gusev crater and Meridiani Planum returned by the Alpha Particle X-ray Spectrometer (APXS) instruments on the rovers Spirit (MERA) and Opportunity (MERB), following on earlier results based on smaller data sets [1-4].
Observations from the two Mars rovers, Spirit and Opportunity, combined with discoveries of extensive hydrated sulfate deposits from OMEGA and CRISM show that aqueous deposition and alteration involving acidic systems and sulfate deposition has been a key contributor to the martian geologic record. Rio Tinto, Spain, provides a process model for formation of sulfates on Mars by evaporation of acidic waters within shallow fluvial pools, particularly during dry seasons. We present results from a detailed investigation of an upper portion of the Rio Tinto, focusing on geomorphology, clastic sediment transport, and acidic aqueous processes. We also lay out lessons-learned for under-standing sulfate formation and alteration on Mars.
Solar cells operating on the surface of Mars receive a spectrum of illumination different from the AM0 spectrum, since the sunlight is filtered by dust suspended in the atmosphere. This spectrum changes with the amount of dust in the atmosphere, as well as with air mass change due to time of day and season. This spectral variation affects the performance of solar cells. We used data from Mars Exploration Rovers to measure this spectrum. By comparing the measured intensity with the known reflectance of the pancam calibration target on the rovers Spirit and Opportunity, we measure the solar spectrum reaching the surface. The effect of this spectrum on the performance of solar cells is then calculated based on the spectral response of several different solar cell types.
Light-toned, subsurface soil deposits have been excavated by the Mars Exploration Rover (MER) Spirit in six distinct locations along its traverse across the Columbia Hills of Gusev Crater. Samples at two of these sites have been analyzed in detail by the M ssbauer (MB) and Alpha Particle X-ray Spectrometers (APXS), providing information on iron mineralogy and elemental chemistry, respectively. These soils are referred to as "Paso Robles" class deposits.