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NASA NTRS2020

Robotics System Process and Concept for On-orbit Assembly for Potential Mars Sample Return

Proposed Mars Sample Return (MSR) missions would require on-orbit assembly of containment vessels to meet backward Planetary Protection requirements and transfer of the sample container through various stations and positions. Some operations would have to be performed autonomously, and others would require ground-in-loop decision-making stages and verification processes. One concept design for an Earth Return Orbiter (ERO) Capture, Contain, and Return System (CCRS) Transfer Mechanism (TM) is a multi-Degree of Freedom (DOF) manipulator that utilizes a passive End Effector (EE) to assist in containment vessel assembly. To converge on a feasible design, a robotic system process has been instantiated. This process is composed of three main phases: robotic problem definition (operating environment, operations/functions, system goals), robotic solution selection (trade studies on the number of degrees of freedom, number of mechanisms, types of mechanisms), robotic solution design, implementation, and verification and validation (kinematic configuration, robotic and kinematic analysis and topology optimization of components). As a final product of this process, a half-scale functional prototype of the TM was developed to demonstrate the end-to-end operation capability.

Strahle, Jackson W↗

NASA NTRSDate not supplied

Case Study of Meteoroid Fluence on a Mars Sample Return Mission

The Mars Sample Return Campaign must satisfy a Back Planetary Protection requirement that limits the risk of biological contamination of the Earth by Martian microbes. The Earth Re-turn Orbiter (ERO), being developed by the European Space Agency (ESA), will carry a Capture, Containment and Return System (CCRS), which is being developed by NASA to retrieve orbiting samples (OS) from Mars orbit, surround them with two containment layers to create a Contained OS (COS), and transfer the COS to the Earth Entry System (EES), which will be re-leased by ERO to carry the samples through entry, descent and landing at the Utah Test and Training Range. Micrometeoroid impact damage to the Thermal Protection System (TPS) of the EES, which may occur at any time in the ERO mission, is recognized as a potential risk driver for loss of sample containment that needs to be rigorously assessed. A Micrometeoroid Protection System (MMPS) will be implemented to limit that risk. The MMPS consists of a shield covering the TPS called the Micrometeoroid Garage (MMG) and a system of cameras to inspect the TPS. An extensive study was performed by the CCRS Project in collaboration with the NASA Engineering and Safety Center (NESC)to assess the probability of damage to the MMG and TPS by meteoroids over the entire ERO mission. This included the computation of the meteoroid fluence on the MMG and directly on the TPS after EES separation, and assessment of damage to the MMG and TPS via hypervelocity impact tests, hydrocode simulations, and empirical damage prediction and ballistic limit equations (BLEs). The focus of this paper is the meteoroid fluence on the MMG.

micrometeoroid↗

NASA NTRSDate not supplied

Case Study of Meteoroid Fluence on a Mars Sample Return Mission

Micrometeoroid↗

NASA NTRS2020

Thermal Architecture of A Conceptual Mars Sample Return Lander during Cruise and on Mars

A Pre-Project team is currently studying a conceptual Mars Sample Return (MSR) architecture that would return samples collected by Mars 2020 to Earth. The basic architecture comprises of acquisition of these samples using a sample retrieval lander (SRL), which also would also house the Mars Ascent Vehicle (MAV) and Sample Fetch Rover (SFR). The MAV would put the orbiting sample container (OS) in a Martian orbit, which would then rendezvous with an Earth return orbiter (ERO) and be sent to Earth. This paper focuses on the SRL portion of the potential MSR campaign. The thermal architecture of this mission during cruise to Mars presents several challenges that pertain to the thermal control of the spacecraft and the lander/MAV/rover throughout cruise under varying thermal environments & operating conditions. Additionally, the control of these systems within their allowable operating temperature limits on the Martian surface is very challenging because of the large fluctuations in the environment, operating conditions and limited electrical power and energy availability. This paper will describe the thermal architecture for a potential SRL mission, the key thermal requirements and interfaces.It should be noted that the decision to implement MSR will not be finalized until NASA’s completion of the National Environmental Policy Act (NEPA) process. This document is being made available for information purposes only.

Nicholas, Austin↗

NASA NTRS2024

Sampling the Margin Unit of Jezero Crater, Mars for Future Mars Sample Return

Mars 2020 Perseverance rover is currently exploring Jezero crater, which contains an ancient lake-delta system with a high potential for past habitability. One of Perseverance’s primary science goals is to collect a set of scientifically return-worthy samples for return to Earth (Mars Sample Return; MSR). Between February 2021 and December 2023, Perseverance has sealed 23 tubes containing 20 rock cores, 2 regolith samples and one atmosphere sample. All rock and regolith samples are accompanied by a set of observations (Sample Threshold Observation Protocol, the STOP List) performed on abrasion patches or regolith near each sample collection site. These observations are documented in the Initial Reports and the Sample Dossier (https://pds-geosciences.wustl.edu/missions/mars2020/returned_sample_science.htm). Here we provide an overview of the samples collected during the Margin campaign. The Margin unit is situated interior and adjacent to the western crater rim and exhibits a strong carbonate signal from orbital reflectance spectroscopy. Stratigraphically the unit lies beneath the previously explored curvilinear and blocky units of the fan top and is therefore older than those units. Based on its position near the crater rim and the strong carbonate detections it has been proposed to be a shoreline deposit with possible lacustrine carbonates. Alternative hypotheses include pyroclastic, fluviolacustrine and aeolian deposits. Based on rover observations a lacustrine shoreline deposit seems most likely. The planning of the Margin campaign took place during the summer of 2023, and 3-5 samples were baselined to be collected. Exploration of the Margin unit began in September 2023 and so far, two samples have been collected: the Pelican Point core at the Hans Amundsen Memorial Workspace in the Mandu Wall region , and the Lefroy Bay core at Lake Newell in the Turquoise Bay region (Fig. 1). The associated abrasion patches are Amherst Point (Pelican Point) and Bills Bay (Lefroy Bay) . Mandu Wall is interpreted to be stratigraphically lower than Turquoise Bay based on topography.

Mars sample return↗

NASA NTRS2018

An Orbiting Sample Capture and Orientation System Architecture for Potential Mars Sample Return

An orbiting sample capture and orientation system architecture for a Rendezvous and Orbiting Sample Capture System (ROCS) concept was developed to enable spacecraft based, in-orbit capture, orientation, and transfer of a Mars sample container into a containment vessel as part of a potential Mars Sample Return (MSR) campaign. An analysis of the system functions, requirements, interactions, and constraints was performed. A trade study was carried out on relevant technologies, and a set of evaluation criteria was developed to help determine the most feasible concepts for implementation. The Mars Capture and Re-orientation for the potential Next Mars Orbiter (MACARONE) concept is proposed as a promising system architecture for the ROCS Capture and Orient Module (COM). The concept uses a sliding trap door for Orbiting Sample (OS) capture, a Motorized Cups Mechanism for OS orientation, and a 2 DOF Turret Arm with a paddle for transferring the OS into a containment vessel. This approach facilitates modularity, development flexibility, test-ability in a 1G environment, analyze-ability without the need to simulate or test for 0G contact dynamics, ability to encapsulate potential dust surrounding the OS, and ability to be ejected to reduce the probability of Earth exposure to non-sterilized Mars material.

Lalla, Karan↗

NASA NTRSDate not supplied

The Planetary Protection Strategy of the Earth Return Orbiter–Capture, Containment & Return System in the Context of the Mars Sample Return Campaign

The Mars Sample Return Campaign aims at bringing back to Earth the rock and atmospheric samples that the rover Perseverance has started to collect on the surface of Mars with the goal of analyzing them in a facility built specifically for this purpose to answer questions about the habitability of Mars. The Campaign consists of several missions, including the Earth Return Orbiter–Capture, Containment & Return System (ERO-CCRS), which will capture the samples previously put in Martian orbit, contain them in redundant containers to ensure that no unsterilized particles are released, and return them to Earth through a parachute-less entry vehicle. Both NASA and ESA policies address the United Nations’ Outer Space Treaty by addressing potential harm from material returned from solar system bodies beyond the Earth-Moon system. In the conduct of Mars Sample Return, the two agencies have agreed to apply approaches consistent with their own standards to campaign elements each provides. This work presents the overall strategy for both forward and backward planetary protection for the ERO-CCRS mission. Specifically, for forward planetary protection, CCRS is not required to meet specific bioburden requirements as a Category III mission provided the ERO (1) meets orbital lifetime requirements during orbiter operations and (2) any elements jettisoned at Mars meet orbital lifetime requirements. CCRS is required to be built in ISO-8 or better cleanrooms and, by agreement with ERO, be compatible with direct bioburden verification methods. For backward planetary protection, the overall approach includes building robust, highly reliable systems to prevent inadvertent release of unsterilized Mars material through redundant containment vessels and particle transport analyses. Ongoing work to define verification approaches and quantify containment assurance levels for specific sample return systems will also be discussed, along with how those data will inform launch approval for ERO-CCRS.

Giuseppe Cataldo↗

NASA NTRS2024

NASA's Capture, Containment, and Return System: Bringing Mars Samples to Earth

The Mars Sample Return (MSR) campaign is one of the most ambitious and complex planetary science exploration missions ever pursued. With the participation of NASA, ESA, and many industry partners, MSR aims to bring Martian rock and atmosphere samples to Earth with the goal of answering key questions about Mars’ geological, climatological and, potentially, biological evolution. To accomplish this ambitious goal, the MSR campaign relies on three distinct flight elements and a ground element. The Earth Return Orbiter mission that would host the Capture, Containment, and Return System (CCRS) is the last flight element of the trio. The mission would capture the orbiting sample in low Mars orbit (launched into orbit by another mission), contain it, and return it to Earth, landing at the Utah Test and Training Range. Since its early architecture, several changes were adopted by CCRS to improve overall payload efficiency and reduce mass. This paper will discuss the CCRS design, how the current CCRS architecture contributes to an improved mission concept, and the next critical steps of the mission toward its launch.

Mars mission↗

NASA NTRS2005

Planetary Protection Technology for Mars Sample Return

The NASA Mars Exploration Program has recently adopted a plan that includes a first Mars sample return (MSR) mission proposed for launch in 2013. Such a mission would deal with two new categories of planetary protection requirements: (1) assuring a very low probability of inadvertent release of the sample in order to provide extra protection against the extremely unlikely possibility of biological hazards in the returned material and (2) keeping the samples free of round-trip Earth organisms to facilitate confirmation of safety after return to Earth. This paper describes the planetary-protection-related technical challenges awaiting any MSR mission and describes work in progress on technology needed to meet these challenges. New technology is needed for several functions. Containment assurance requires breaking the chain of contact with Mars: the exterior of the sample container must not be contaminated with Mars material either during the loading process or during launch from the Mars surface.

planetary protection↗

NASA NTRS2020

An MBSE-based Approach to Architecting a Robotic Sample Capture System Concept for Potential Mars Sample Return

A model-based systems engineering (MBSE) approach was applied to architecting an orbiting sample Capture and Orient Module (COM) system concept for a Capture, Contain, and Return System (CCRS) payload concept for the notional Mars Sample Return (MSR) campaign at the NASA Jet Propulsion Laboratory. An architecture framework was established, covering multiple organizational layers of the system, along with structural, behavioral, data, and requirements perspectives. A workflow process to implement the architecting activities within the COM engineering team was established. The approach helped maintain consistency in terminology, helped ensure alignment of structural, behavioral, data, and requirements elements within each organization layer, and guided the engineering team through an architecting process that helped develop the architecture for a Capture and Orient Module system concept.

Younse, Paulo↗

NASA NTRS2002

Technology Development and Advanced Planning for Curation of Returned Mars Samples

NASA Johnson Space Center (JSC) curates extraterrestrial samples, providing the international science community with lunar rock and soil returned by the Apollo astronauts, meteorites collected in Antarctica, cosmic dust collected in the stratosphere, and hardware exposed to the space environment. Curation comprises initial characterization of new samples, preparation and allocation of samples for research, and clean, secure long-term storage. The foundations of this effort are the specialized cleanrooms (class 10 to 10,000) for each of the four types of materials, the supporting facilities, and the people, many of whom have been doing detailed work in clean environments for decades. JSC is also preparing to curate the next generation of extraterrestrial samples. These include samples collected from the solar wind, a comet, and an asteroid. Early planning and R\&D are underway to support post-mission sample handling and curation of samples returned from Mars. One of the strong scientific reasons for returning samples from Mars is to search for evidence of current or past life in the samples. Because of the remote possibility that the samples may contain life forms that are hazardous to the terrestrial biosphere, the National Research Council has recommended that all samples returned from Mars be kept under strict biological containment until tests show that they can safely be released to other laboratories. It is possible that Mars samples may contain only scarce or subtle traces of life or prebiotic chemistry that could readily be overwhelmed by terrestrial contamination . Thus, the facilities used to contain, process, and analyze samples from Mars must have a combination of high-level biocontainment and organic / inorganic chemical cleanliness that is unprecedented. JSC has been conducting feasibility studies and developing designs for a sample receiving facility that would offer biocontainment at least the equivalent of current maximum containment BSL-4 (BioSafety Level 4) laboratories, while simultaneously maintaining cleanliness levels equaling those of state-of-the-art cleanrooms. Unique requirements for the processing of Mars samples have inspired a program to develop handling techniques that are much more precise and reliable than the approach (currently used for lunar samples) of employing gloved human hands in nitrogen-filled gloveboxes. Individual samples from Mars are expected to be much smaller than lunar samples, the total mass of samples returned by each mission being 0.5- 1 kg, compared with many tens of kg of lunar samples returned by each of the six Apollo missions. Smaller samples require much more of the processing to be done under microscopic observation. In addition, the requirements for cleanliness and high-level containment would be difficult to satisfy while using traditional gloveboxes. JSC has constructed a laboratory to test concepts and technologies important to future sample curation. The Advanced Curation Laboratory includes a new-generation glovebox equipped with a robotic arm to evaluate the usability of robotic and teleoperated systems to perform curatorial tasks. The laboratory also contains equipment for precision cleaning and the measurement of trace organic contamination.

Lindstrom, David J.↗

NASA NTRS2022

Scientific Value of Including an Atmospheric Sample as Part of Mars Sample Return (MSR)

The Perseverance rover is meant to collect samples of the martian surface for eventual return to Earth. The headspace gas present over the solid samples within the sample tubes will be of significant scientific interest for what it reveals about the interactions of the solid samples with the trapped atmosphere and for what it will reveal about the martian atmosphere itself. However, establishing the composition of the martian atmosphere will require other dedicated samples. The headspace gas as the sole atmospheric sample is problematic for many reasons. The quantity of gas present within the sample tube volume is insufficient for many investigations, and there will be exchange between solid samples, headspace gas, and tube walls. Importantly, the sample tube materials and preparation were not designed for optimal Mars atmospheric gas collection and storage as they were not sent to Mars in a degassed evacuated state and have been exposed to both Earth's and Mars' atmospheres. Additionally, there is a risk of unconstrained seal leakage in transit back to Earth, which would allow fractionation of the sample (leak-out) and contamination (leak-in). The science return can be improved significantly (and, in some cases, dramatically) by adding one or more of several strategies listed here in increasing order of effectiveness and difficulty of implementation: (1) Having Perseverance collect a gas sample in an empty sample tube, (2) Collecting gas in a newly-designed, valved, sample-tube-sized vessel that is flown on either the Sample Fetch Rover (SFR) or the Sample Retrieval Lander (SRL), (3) Adding a larger (50-100 cc) dedicated gas sampling volume to the Orbiting Sample container (OS), (4) Adding a larger (50-100 cc) dedicated gas sampling volume to the OS that can be filled with compressed martian atmosphere.

Timothy D. Swindle↗

NASA NTRS1999

Mars Sample Quarantine Protocol Workshop

The Mars Sample Quarantine Protocol (QP) Workshop was convened to deal with three specific aspects of the initial handling of a returned Mars sample: 1) biocontainment, to prevent uncontrolled release of sample material into the terrestrial environment; 2) life detection, to examine the sample for evidence of live organisms; and 3) biohazard testing, to determine if the sample poses any threat to terrestrial life forms and the Earth's biosphere. During the first part of the Workshop, several tutorials were presented on topics related to the workshop in order to give all participants a common basis in the technical areas necessary to achieve the objectives of the Workshop.

DeVincenzi, Donald L.↗

NASA NTRS2012

Is Mars Sample Return Required Prior to Sending Humans to Mars?

Prior to potentially sending humans to the surface of Mars, it is fundamentally important to return samples from Mars. Analysis in Earth's extensive scientific laboratories would significantly reduce the risk of human Mars exploration and would also support the science and engineering decisions relating to the Mars human flight architecture. The importance of measurements of any returned Mars samples range from critical to desirable, and in all cases these samples will would enhance our understanding of the Martian environment before potentially sending humans to that alien locale. For example, Mars sample return (MSR) could yield information that would enable human exploration related to 1) enabling forward and back planetary protection, 2) characterizing properties of Martian materials relevant for in situ resource utilization (ISRU), 3) assessing any toxicity of Martian materials with respect to human health and performance, and 4) identifying information related to engineering surface hazards such as the corrosive effect of the Martian environment. In addition, MSR would be engineering 'proof of concept' for a potential round trip human mission to the planet, and a potential model for international Mars exploration.

biohazards↗

NASA NTRS2017

X-Ray Computed Tomography: The First Step in Mars Sample Return Processing

The Mars 2020 rover mission will collect and cache samples from the martian surface for possible retrieval and subsequent return to Earth. If the samples are returned, that mission would likely present an opportunity to analyze returned Mars samples within a geologic context on Mars. In addition, it may provide definitive information about the existence of past or present life on Mars. Mars sample return presents unique challenges for the collection, containment, transport, curation and processing of samples [1] Foremost in the processing of returned samples are the closely paired considerations of life detection and Planetary Protection. In order to achieve Mars Sample Return (MSR) science goals, reliable analyses will depend on overcoming some challenging signal/noise-related issues where sparse martian organic compounds must be reliably analyzed against the contamination background. While reliable analyses will depend on initial clean acquisition and robust documentation of all aspects of developing and managing the cache [2], there needs to be a reliable sample handling and analysis procedure that accounts for a variety of materials which may or may not contain evidence of past or present martian life. A recent report [3] suggests that a defined set of measurements should be made to effectively inform both science and Planetary Protection, when applied in the context of the two competing null hypotheses: 1) that there is no detectable life in the samples; or 2) that there is martian life in the samples. The defined measurements would include a phased approach that would be accepted by the community to preserve the bulk of the material, but provide unambiguous science data that can be used and interpreted by various disciplines. Fore-most is the concern that the initial steps would ensure the pristine nature of the samples. Preliminary, non-invasive techniques such as computed X-ray tomography (XCT) have been suggested as the first method to interrogate and characterize the cached samples without altering the materials [1,2]. A recent report [4] indicates that XCT may minimally alter samples for some techniques, and work is needed to quantify these effects, maximizing science return from XCT initial analysis while minimizing effects.

Welzenbach, L. C.↗

NASA NTRS1993

Benefits of in situ propellant utilization for a Mars sample return mission

Previous Mars rover sample return mission studies have shown a requirement for Titan 4 or STS Space Shuttle launch vehicles to complete a sample return from a single Mars site. These studies have either used terrestrial propellants or considered in situ production of methane and oxygen for the return portion of the mission. Using in situ propellants for the return vehicles reduces the Earth launch mass and allows for a smaller Earth launch vehicle, since the return propellant is not carried from Earth. Carbon monoxide and oxygen (CO/O2) and methane and oxygen (CH4/O2) were investigated as in situ propellants for a Mars sample return mission and the results were compared to a baseline study performed by the Jet Propulsion Laboratory using terrestrial propellants. Capability for increased sample return mass, use of an alternate launch vehicle, and an additional mini-rover as payload were included. CO/O2 and CH4/O2 were found to decrease the baseline Earth launch mass by 13.6 and 9.2 percent, respectively. This resulted in higher payload mass margins for the baseline Atlas 2AS launch vehicle. CO/O2 had the highest mass margin. And because of this, it was not only possible to increase the sample return mass and carry an additional mini-rover, but was also possible to use the smaller Atlas 2A launch vehicle.

Wadel, Mary F.↗

NASA NTRS1993

Benefits of in situ propellant utilization for a Mars sample return mission

Wadel, Mary F.↗

NASA NTRS2021

Assessing Relay Communications for Mars Sample Return Surface Mission Concepts

The Mars Sample Return (MSR) Campaign is a 3-mission campaign concept supported by NASA and ESA to return samples from the Mars surface. MSR will, for the firsttime ever, present a need to communicate with multiple surfaceassets that are co-located on Mars in a coordinated effort toaccomplish the unified objective of fetching, transporting, andreturning samples from Mars. Currently, Mars surface assetsrelay data to and from Earth using a number of orbiters inwhat’s known as the Mars Relay Network (MRN). This networkis characterized by a small number of surface assets distributedacross the Martian globe and a larger number of orbiters toprovide relay services. As of June 2020, there are two surfaceassets for which five orbiters are providing relay. During theMSR Campaign, there will be two rovers and a lander that allwill require relay communication from a small number of Marsorbiters to meet the aggressive MSR timeline. The inversion ofthe current MRN paradigm, a system of many surface assetsrequiring relay and few orbiters to provide relay, necessitatesthe unique challenge of optimally allocating relay passes tomaximize the operational capability of all assets. The allocationmust consider a large number of trade variables includingMars asset operational requirements and Earth ground systemconstraints, including staffing schedules, operations planningacross time zones, and more. To address these telecommunicationchallenges, the Mars Asset Relay Mission Link AllocationDesign Environment (MARMLADE) tool was developed. Itis a MATLAB-based tool to assign orbiter passes or Direct-From-Earth (DFE) links to each of the three surface assets andquantify the operational efficiency of each surface asset.MARMLADE uses a data set of simulated Mars relay orbitergeometry and telecommunication capabilities provided by JPL’sTelecom Orbit Analysis and Simulation Tool (TOAST) softwareto compute which asset should get each pass based on a seriesof heuristics and predictions of all assets’ states. WithinMARMLADE, the user can provide inputs including the optionfor time-based pass splitting, fixed FWD data rate capabilities,DFE communication capabilities, and link parameters allowingfor the assessment of complex operations and hardware tradesusing surface mission operational efficiency as a primary figureof merit. As the MSR mission concepts continue to mature,MARMLADE is being used to assess ability of all MSR elementsto meet the surface mission timeline requirements and to provide relay link allocations to each of the MSR surface assets.

Lee, Charles↗