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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 559 records · Page 31
All sourcesNASA NTRSDOE OSTI
NASA NTRS2006

Flexible Rover Architecture for Science Instrument Integration and Testing

At NASA Ames Research Center, the Intelligent Robotics Group (IRG) fields the K9 and K10 class rovers. Both use a mobile robot hardware architecture designed for extensibility and reconfigurability that allows for rapid changes in instrumentation and provides a high degree of modularity. Over the past ssveral years, we have worked with instrument developers at NASA centers, universities, and national laboratories to integrate or partially integrate their instruments onboard the K9 and K10 rovers. Early efforts required considerable interaction to work through integration issues such as power, data protocol and mechanical mounting. These interactions informed the design of our current avionics architecture, and have simplified more recent integration projects. In this paper, we will describe the IRG extensible avionics and software architecture and the effect it has had on our recent instrument integration efforts, including integration of four Mars Instrument Development Program devices.

Bualat, Maria G.↗
NASA NTRS2006

Intelligent Rover Execution for Detecting Life in the Atacama Desert

On-board supervisory execution is crucial for the deployment of more capable and autonomous remote explorers. Planetary science is considering robotic explorers operating for long periods of time without ground supervision while interacting with a changing and often hostile environment. Effective and robust operations require on-board supervisory control with a high level of awareness of the principles of functioning of the environment and of the numerous internal subsystems that need to be coordinated. We describe an on-board rover executive that was deployed on a rover as past of the "Limits of Life in the Atacama Desert (LITA)" field campaign sponsored by the NASA ASTEP program. The executive was built using the Intelligent Distributed Execution Architecture (IDEA), an execution framework that uses model-based and plan-based supervisory control of its fundamental computational paradigm. We present the results of the third field experiment conducted in the Atacama desert (Chile) in August - October 2005.

Baskaran, Vijayakumar↗
NASA NTRS2006

The K9 On-Board Rover Architecture

This paper describes the software architecture of NASA Ames Research Center s K9 rover. The goal of the onboard software architecture team was to develop a modular, flexible framework that would allow both high- and low-level control of the K9 hardware. Examples of low-level control are the simple drive or pan/tilt commands which are handled by the resource managers, and examples of high-level control are the command sequences which are handled by the conditional executive. In between these two control levels are complex behavioral commands which are handled by the pilot, such as drive to goal with obstacle avoidance or visually servo to a target. This paper presents the design of the architecture as of Fall 2000. We describe the state of the architecture implementation as well as its current evolution. An early version of the architecture was used for K9 operations during a dual-rover field experiment conducted by NASA Ames Research Center (ARC) and the Jet Propulsion Laboratory (JPL) from May 14 to May 16, 2000.

Bresina, John L.↗
NASA NTRS2006

A 'Super Bowl' Approach to Mars Rover Touchdown Loads Analysis

Touchdown Driving Requirement: The mechanical system surface element shall be capable of facilitating a safe, stable landing at terrain angles up to 15 degrees, given an initial vertical velocity of 1 m/sec, horizontal velocity of 0.5 m/sec, and Z-axis spin rate of [4] deg/sec.Touchdown Loads Development: A multi-year development effort has been successfully conducted leading to an innovative analytical methodology for the prediction of rover touchdown design loads and the assessment of rover touchdown stability.

landing↗
NASA NTRS2005

Mars Exploration Rover Operations with the Science Activity Planner

The Science Activity Planner (SAP) is the primary science operations tool for the Mars Exploration Rover mission and NASA's Software of the Year for 2004. SAP utilizes a variety of visualization and planning capabilities to enable the mission operations team to direct the activities of the Spirit and Opportunity rovers. This paper outlines some of the challenging requirements that drove the design of SAP and discusses lessons learned from the development and use of SAP in mission operations.

ground systems↗
NASA NTRS2007

Testing of the Mars Exploration Rovers to Survive the Extreme Thermal Environments

Both Rovers have celebrated 3-year anniversaries on surface of Mars: a) More than ten times design life; b) Planned and implemented rigorous assembly and system level test programs; c) Demonstrated robust thermal margins; d)Tested both in vacuum and Mars atmosphere; e) Planned and implemented thermal cycling life qualification program; f) Demonstrated survival in deep thermal diurnal cycling and seasonal temperature variations; and g) Both Rovers continue to explore and return valuable science data

thermal environments↗
NASA NTRS2003

Optomechanical Design of Ten Modular Cameras for the Mars Exploration Rovers

This viewgraph presentation reviews the design and fabrication of the modular cameras for the Mars Exploration Rovers. In the 2003 mission there were to be 2 landers and 2 rovers, each were to have 10 cameras each. Views of the camera design, the lens design, the lens interface with the detector assembly, the detector assembly, the electronics assembly are shown.

cameras↗
NASA NTRS2005

Operation and Performance of the Mars Exploration Rover Imaging System on the Martian Surface

This slide presentation details the Mars Exploration Rover (MER) imaging system. Over 144,000 images have been gathered from all Mars Missions, with 83.5% of them being gathered by MER. Each Rover has 9 cameras (Navcam, front and rear Hazcam, Pancam, Microscopic Image, Descent Camera, Engineering Camera, Science Camera) and produces 1024 x 1024 (1 Megapixel) images in the same format. All onboard image processing code is implemented in flight software and includes extensive processing capabilities such as autoexposure, flat field correction, image orientation, thumbnail generation, subframing, and image compression. Ground image processing is done at the Jet Propulsion Laboratory's Multimission Image Processing Laboratory using Video Image Communication and Retrieval (VICAR) while stereo processing (left/right pairs) is provided for raw image, radiometric correction; solar energy maps,triangulation (Cartesian 3-spaces) and slope maps.

imaging↗
NASA NTRS2005

Overview of the Spirit Mars Exploration Rover Mission to Gusev Crater: Landing Site to Backstay Rock in the Columbia Hills

Spirit landed on the floor of Gusev Crater and conducted initial operations on soil covered, rock-strewn cratered plains underlain by olivine-bearing basalts. Plains surface rocks are covered by wind-blown dust and show evidence for surface enrichment of soluble species as vein and void-filling materials and coatings. The surface enrichment is the result of a minor amount of transport and deposition by aqueous processes. Layered granular deposits were discovered in the Columbia Hills, with outcrops that tend to dip conformably with the topography. The granular rocks are interpreted to be volcanic ash and/or impact ejecta deposits that have been modified by aqueous fluids during and/or after emplacement. Soils consist of basaltic deposits that are weakly cohesive, relatively poorly sorted, and covered by a veneer of wind blown dust. The soils have been homogenized by wind transport over at least the several kilometer length scale traversed by the rover. Mobilization of soluble species has occurred within at least two soil deposits examined. The presence of mono-layers of coarse sand on wind-blown bedforms, together with even spacing of granule-sized surface clasts, suggest that some of the soil surfaces encountered by Spirit have not been modified by wind for some time. On the other hand, dust deposits on the surface and rover deck have changed during the course of the mission. Detection of dust devils, monitoring of the dust opacity and lower boundary layer, and coordinated experiments with orbiters provided new insights into atmosphere-surface dynamics.

Arvidson, R. E.↗
NASA NTRS2006

Acid Sulfate Weathering on Mars: Results from the Mars Exploration Rover Mission

Sulfur has played a major role in the formation and alteration of outcrops, rocks, and soils at the Mars Exploration Rover landing sites on Meridiani Planum and in Gusev crater. Jarosite, hematite, and evaporite sulfates (e.g., Mg and Ca sulfates) occur along with siliciclastic sediments in outcrops at Meridiani Planum. The occurrence of jarosite is a strong indicator for an acid sulfate weathering environment at Meridiani Planum. Some outcrops and rocks in the Columbia Hills in Gusev crater appear to be extensively altered as suggested by their relative softness as compared to crater floor basalts, high Fe(3+)/FeT, iron mineralogy dominated by nanophase Fe(3+) oxides, hematite and/or goethite, corundum-normative mineralogies, and the presence of Mg- and Casulfates. One scenario for aqueous alteration of these rocks and outcrops is that vapors and/or fluids rich in SO2 (volcanic source) and water interacted with rocks that were basaltic in bulk composition. Ferric-, Mg-, and Ca-sulfates, phosphates, and amorphous Si occur in several high albedo soils disturbed by the rover's wheels in the Columbia Hills. The mineralogy of these materials suggests the movement of liquid water within the host material and the subsequent evaporation of solutions rich in Fe, Mg, Ca, S, P, and Si. The presence of ferric sulfates suggests that these phases precipitated from highly oxidized, low-pH solutions. Several hypotheses that invoke acid sulfate weathering environments have been suggested for the aqueous formation of sulfate-bearing phases on the surface of Mars including (1) the oxidative weathering of ultramafic igneous rocks containing sulfides; (2) sulfuric acid weathering of basaltic materials by solutions enriched by volcanic gases (e.g., SO2); and (3) acid fog (i.e., vapors rich in H2SO4) weathering of basaltic or basaltic-derived materials.

Ming, Douglas W.↗
NASA NTRS2006

Two Years of Chemical Sampling on Meridiani Planum by the Alpha Particle X-Ray Spectrometer Onboard the Mars Exploration Rover Opportunity

For over two terrestrial years, the Mars Exploration Rover Opportunity has been exploring the martian surface at Meridiani Planum using the Athena instrument payload [1], including the Alpha Particle X-Ray Spectrometer (APXS). The APXS has a small sensor head that is mounted on the robotic arm of the rover. The chemistry, mineralogy and morphology of selected samples were investigated by the APXS along with the Moessbauer Spectrometer (MB) and the Microscopic Imager (MI). The Rock Abrasion Tool (RAT) provided the possibility to dust and/or abrade rock surfaces down to several millimeters to expose fresh material for analysis. We report here on APXS data gathered along the nearly 6-kilometers long traverse in craters and plains of Meridiani.

Bruckner, J.↗
NASA NTRS2006

Fe-Bearing Phases Identified by the Moessbauer Spectrometers on the Mars Exploration Rovers: An Overview

The twin Mars Exploration Rovers Spirit and Opportunity have explored the martian surface at Gusev Crater (GC) and Meridiani Planum (MP), respectively, for about two Earth years. The Moessbauer (MB) spectrometers on both rovers have analyzed an aggregate of ~200 surface targets and have returned to Earth information on the oxidation state of iron, the mineralogical composition of Febearing phases, and the distribution of Fe among oxidation states and phases at the two landing sites [1-7]. To date, 15 component subspectra (10 doublets and 5 sextets) have been identified and most have been assigned to mineralogical compositions. Two subspectra are assigned to phases (jarosite and goethite) that are marker minerals for aqueous processes because they contain hydroxide anion in their structures. In this paper, we give an overview of the Febearing phases identified and their distributions at Gusev crater and Meridiani Planum.

Morris, R. V.↗
NASA NTRS2006

Fe-Bearing Phases Indentified by the Moessbauer Spectrometers on the Mars Exploration Rovers: An Overview

The twin Mars Exploration Rovers Spirit and Opportunity have explored the martian surface at Gusev Crater (GC) and Meridiani Planum (MP), respectively, for about two Earth years. The Moessbauer (MB) spectrometers on both rovers have analyzed an aggregate of approx.200 surface targets and have returned to Earth information on the oxidation state of iron, the mineralogical composition of Fe-bearing phases, and the distribution of Fe among oxidation states and phases at the two landing sites [1-7]. To date, 15 component subspectra (10 doublets and 5 sextets) have been identified and most have been assigned to mineralogical compositions. Two subspectra are assigned to phases (jarosite and goethite) that are marker minerals for aqueous processes because they contain hydroxide anion in their structures. In this paper, we give an overview of the Febearing phases identified and their distributions at Gusev crater and Meridiani Planum.

Morris, R. V.↗
NASA NTRS2008

Mars Exploration Rovers: 4 Years on Mars

This January, the Mars Exploration Rovers "Spirit" and "Opportunity" are starting their fifth year of exploring the surface of Mars, well over ten times their nominal 90-day design lifetime. This lecture discusses the Mars Exploration Rovers, presents the current mission status for the extended mission, some of the most results from the mission and how it is affecting our current view of Mars, and briefly presents the plans for the coming NASA missions to the surface of Mars and concepts for exploration with robots and humans into the next decade, and beyond.

Landis, Geoffrey A.↗
NASA NTRS2008

Enhanced Reporting of Mars Exploration Rover Telemetry

Mars Exploration Rover Enhanced Telemetry Extraction and Reporting System (METERS) is software that generates a human-readable representation of the state of the mobility and arm-related systems of the Mars Exploration Rover (MER) vehicles on each Martian solar day (sol). Data are received from the MER spacecraft in multiple streams having various formats including text messages, sparsely-sampled engineering quantities, images, and individual motor-command histories.

Maimone, Mark W.↗
NASA NTRS2008

Mars Exploration Rover Mission

This viewgraph presentation reviews the Mars Exploration Rover Mission. The design of the Rover along with the Athena science payload is also described. Photographs of the Gusev Crater and Meridiani rocks are also shown.

Cohen, Barbara A.↗
NASA NTRS2005

Electronics for Mars Exploration Rover and beyond

Mars exploration seeks to understand the potential for life elsewhere in the universe; characterize the present and past climate and climate processes; understand geological processes affecting Mars' interior, crust, and surface; and, develop the knowledge and technology necessary for eventual human exploration. The design of a Mars Exploration rover is discussed, in particular it electronic components. The avionics development activities for the subsystem and hardware functionality are outlined. The functions and interfaces of the Rover Electronics Module, Cruise Electronics Module, and Lander Electronics Module are highlighted.

avionics↗
NASA NTRS2007

Design Concept for a Nuclear Reactor-Powered Mars Rover

A report presents a design concept for an instrumented robotic vehicle (rover) to be used on a future mission of exploration of the planet Mars. The design incorporates a nuclear fission power system to provide long range, long life, and high power capabilities unachievable through the use of alternative solar or radioisotope power systems. The concept described in the report draws on previous rover designs developed for the 2009 Mars Science laboratory (MSL) mission to minimize the need for new technology developments.

Elliott, John↗