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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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A report discusses the development of a computational model of a Mars Explorer Rover maneuvering across terrain under varying conditions. The model is used to increase understanding of the rover dynamics.
Various military and commercial entities, as well as the National Aeronautics and Space Administration (NASA), have conducted space cabin confinement studies. However, after an extensive literature search, only one study was found using a simulated lunar rover (LUNEX II), under laboratory conditions, with a crew of two for an eighteen day lunar mission. Forty-three years later, NASA human factors engineers conducted a similar study using the Lunar Electric Rover (LER) in a dynamic real-world lunar simulation at the Black Point Lava Flow in Arizona. The objective of the study was to obtain human-in-the-loop performance data on the vehicle s interior volume with respect to human-system interfaces, crew accommodations, and habitation over a 14-day mission. Though part of a larger study including 212 overall operational elements, this paper will discuss only the performance of fifty different daily habitational elements within the confines of the vehicle carried out by two male subjects. Objective timing data and subjective questionnaire data were collected. Results indicate, much like the LUNEX II study, the LER field study suggest that a crew of two was able to maintain a satisfactory performance of tasks throughout the 14-day field trail within a relative small vehicle volume.
A paper describes a method devised to increase the robustness and accuracy of tracking of targets by means of three stereoscopic pairs of video cameras on a Mars-rover-type exploratory robotic vehicle. Two of the camera pairs are mounted on a mast that can be adjusted in pan and tilt; the third camera pair is mounted on the main vehicle body. Elements of the method include a mast calibration, a camera-pointing algorithm, and a purely geometric technique for handing off tracking between different camera pairs at critical distances as the rover approaches a target of interest. The mast calibration is an extension of camera calibration in which the camera images of calibration targets at known positions are collected at various pan and tilt angles. In the camerapointing algorithm, pan and tilt angles are computed by a closed-form, non-iterative solution of inverse kinematics of the mast combined with mathematical models of the cameras. The purely geometric camera-handoff technique involves the use of stereoscopic views of a target of interest in conjunction with the mast calibration.
Provisions for specification of hazards faced by a robotic vehicle (rover) equipped with a rocker-bogie suspension, for prediction of collisions between the vehicle and the hazards, and for simulation of poses of the vehicle at selected positions on the terrain have been incorporated into software that simulates the movements of the vehicle on planned paths across the terrain. The software in question is that of the Web Interface for Telescience (WITS), selected aspects of which have been described in a number of prior NASA Tech Briefs articles. To recapitulate: The WITS is a system of computer software that enables scientists, located at geographically dispersed computer terminals connected to the World Wide Web, to command instrumented robotic vehicles (rovers) during exploration of Mars and perhaps eventually of other planets. The WITS also has potential for adaptation to terrestrial use in telerobotics and other applications that involve computer-based remote monitoring, supervision, control, and planning.
This paper describes the results of the demonstration of a non-flow-through PEM fuel cell as part of a power system on the SCARAB rover. A 16-cell non-flow-through fuel cell stack from Infinity Fuel Cell and Hydrogen, Inc. was incorporated into a power system designed to act as a range extender by providing power to the rover s hotel loads. This work represents the first attempt at a ground demonstration of this new technology aboard a mobile test platform. Development and demonstration were supported by the Office of the Chief Technologist s Space Power Systems Project and the Advanced Exploration System Modular Power Systems Project.
Since the beginning of its mission, the MER rover Opportunity has visited a sequence of progressively larger impact craters in order to characterize rocks that represent an ever broader stratigraphic range. Endeavour Crater is by far the largest crater that this rover has visited, therefore the crater rim provides materials from strata that are much deeper and older than any materials yet sampled. Indeed, the Mars Reconnaissance Orbiter CRISM instrument detected spectral signatures of hydrated phyllosilicates in several rim segments, consistent with a Noachian provenance. In addition, the crater rim might have recorded the effects of the original impact as well as the thermal processes that occurred in its aftermath. This report summarizes initial observations of geologic structures and the fabrics, chemistry and mineralogy of rocks. Cape York is an N/NE - S/SW-trending segment of crater rim that is bounded by rim segments that are more deeply eroded, forming embayments. Opportunity drove onto the southwest margin of Cape York and has traversed across the Cape to a ridge near its northern end. The rim of Endeavour Crater was severely degraded and then on lapped by Meridiani sulfate-rich deposits, indicating that Cape York deposits experienced extensive erosion prior to the deposition of Meridiani Planum sulfate-rich sediments. Cape York consists of impact-uplifted rocks that are surrounded by a younger bedrock bench that might represent sediments shed from Cape York. The uplifted rock "Tisdale-2," located near the southern end of Cape York, is a polymict lithic breccia. Its elemental composition resembles a mixture of basalt plus bedrock encountered previously at Meridiani Planum, and it is relatively enriched in Ni, Zn, P, characteristic of hydrothermal fluids. "Chester Lake" and "Greeley Haven" are bedrock surfaces located near the southern and northern ends of Cape York, respectively, and they exhibit fabrics reminiscent of suevites. The rocks that were analyzed so far are quite different from any rocks previously encountered by Opportunity and Spirit. Several light-toned vein deposits (approx 1 cm) were discovered in the bench that borders the western flanks of Cape York. The vein "Homestake" is rich in Ca and S, and it exhibits a spectral feature near 1000 run caused by hydration, indicating that "Homestake" consists substantially of gypsum. The relationship(s) between these veins and the sulfate-rich layered deposits at Meridiani Planum remains uncertain. The veins might have been deposited by sulfate-rich fluids perhaps either in the immediate aftermath of the impact that formed Endeavour Crater or at some later time. Current uncertainties notwithstanding, the novel lithologies at Cape York are significantly older than the sulfate-rich sedimentary rocks at Meridiani Planum, and these lithologies have recorded episodes of aqueous activity from earlier epochs, perhaps during the Noachian. The author acknowledges the contributions of the Athena Science Team, the MER engineering team, JPL and NASA.
What Can the Curiosity Rover Tell Us About the Climate of Mars? Assessing the habitability of Gale Crater is the goal of the Curiosity Rover, which has been gathering data since landing on the Red Planet last August. To meet that goal, Curiosity brought with it a suite of instruments to measure the biological potential of the landing site, the geology and chemistry of its surface, and local environmental conditions. Some of these instruments illuminate the nature of the planet fs atmosphere and climate system, both for present day conditions as well as for conditions that existed billions of years ago. For present day conditions, Curiosity has a standard meteorology package that measures pressure, temperature, winds and humidity, plus a sensor the measures the UV flux. These data confirm what we learned from previous missions namely that today Mars is a cold, dry, and barren desert-like planet. For past conditions, however, wetter and probably warmer conditions are indicated. Curiosities cameras reveal gravel beds that must have formed by flowing rivers, and sedimentary deposits of layered sand and mudstones possibly associated with lakes. An ancient aqueous environment is further supported by the presence of sulfate veins coursing through some of the rocks in Yellowknife Bay where Curiosity is planning its first drilling activity. I will discuss these results and their implications in this lecture.
The CheMin instrument (short for "Chemistry and Mineralogy") on the Mars Science Laboratory rover Curiosity is one of two "laboratory quality" instruments on board the Curiosity rover that is exploring Gale crater, Mars. CheMin is an X-ray diffractometer that has for the first time returned definitive and fully quantitative mineral identifications of Mars soil and drilled rock. I will describe CheMin's 23-year development from an idea to a spacecraft qualified instrument, and report on some of the discoveries that Curiosity has made since its entry, descent and landing on Aug. 6, 2012, including the discovery and characterization of the first habitable environment on Mars.
In Situ imaging spectroscopy provides a way to address complex questions of geological evolution for both aqueous and igneous processes by mapping mineral composition at the spatial scale of rocks and outcrops. Examination of locations studied by the Mars Exploration Rovers Spirit and Opportunity can provide examples of the potential utility and define the needed measurement requirements. A compact instrument is needed to be able to adequately address these science questions from a rover platform. The Ultra Compact Imaging Spectrometer (UCIS) is an instrument designed to address the science need and implementation constraints.
We are developing onboard planning and execution technologies to support the exploration and characterization of geological features by autonomous rovers. In order to generate high quality mission plans, an autonomous rover must reason about the relative importance of the observations it can perform. In this paper we look at the scientific criteria of selecting observations that improve the quality of the area covered by samples. Our approach makes use of a priori information, if available, and allows scientists to mark sub-regions of the area with relative priorities for exploration. We use an efficient algorithm for prioritizing observations based on spatial coverage that allows the system to update observation rankings as new information is gained during execution.
In June and July 2007 Mars experienced a dust storm that grew to envelop all but the polar latitudes of the planet. This dust storm was the first global dust storm to occur while the twin Mars Exploration Rovers (MER) began surface operations. It is estimated that the dust in the atmosphere prevented over 99.6% of direct sunlight from reaching the surface at the peak of the storm. Data collected indicated that solar array energy output was reduced to approximately 15% of maximum. The reduction in insolation and energy output posed the greatest risk of ending the mission for both rovers at that time.
A developmental test program was conducted for the touchdown event of the Mars Science Laboratory rover. The test hardware consisted of a full-size 3/8th mass scaled test rover, a descent stage mass mock-up, and a Vectran triple-bridle system over 6 meters in length. More than eighty landing tests were performed on terrains of various types, including level rigid surfaces, level and sloped sand surfaces, and level and sloped surfaces with rocks. Landing velocities ranged between 0.4 m/s and 1.4 m/s. A computational model of the landings was developed using the ADAMS analysis program, and validation of this model has been performed through test-analysis comparisons.
The Opportunity Rover is currently in its 11th year of operations, exploring the rim of the approximately 22 km wide Noachian-age Endeavour Crater. Opportunity spent its 5th winter season in Cook Haven, a gentle swale along Murray Ridge. Two small rocks serendipitously overturned by rover wheel motions show evidence for aqueous precipitation of sulfates, and interaction with a strong oxidant (e.g., O2) to form a thin, high valence state Mn oxide coating. After the winter, Opportunity headed south to Cape Tribulation and explored Shoemaker formation impact breccias, finding numerous Ca-sulfate veins cutting across outcrops. A key target for Opportunity's measurements has been the Spirit of Saint Louis crater (SoSL), which is approximately 25 m wide, oval in plan view, shallow, flat-floored, and has a slightly raised rim. SoSL crater is surrounded by an apron of bright, polygonally-shaped outcrops and is superimposed on a gentle swale in Cape Tribulation. Rocks in a thin reddish zone on the rim are enriched in hematite, Si, and Ge, and depleted in Fe, relative to surrounding rocks. Apron rocks include an outcrop also enriched in Si and Ge, and slightly depleted in Fe. In general rocks in the crater and apron have elevated S relative to Shoemaker formation breccias, tracking values observed in the Cook Haven and the Hueytown (fracture running perpendicular to Cape Tribulation) outcrops. SoSL crater lies just to the west of Marathon Valley, a key target for exploration by Opportunity because five separate CRISM observations indicate the presence of Fe/Mg smectites on the upper valley floor. Opportunity data show that low relief, relatively bright polygonal outcrops dominate the valley floor where not covered by scree and soil shed from surrounding walls. Initial reconnaissance shows that the outcrops are breccias with compositions similar to the typical SoSL crater apron and floor rocks, although only the very upper portion of the valley has been explored as of August 2015. Pervasive but modest aqueous alteration of Endeavour's rim is implied by the combination of CRISM and Opportunity data, providing insight into early aqueous processes dominated in this location by relatively low water to rock ratios, and at least in part associated with enhanced fluid flow along fractures.
Studies of lunar polar volatile depositsare of interest for scientific purposes to understandthe nature and evolution of the volatiles, and alsofor exploration reasons as a possible in situ resource toenable long term exploration and settlement of theMoon. Both theoretical and observational studies havesuggested that significant quantities of volatiles exist inthe polar regions, although the lateral and horizontaldistribution remains unknown at the km scale and finerresolution. A lunar polar rover mission is required tofurther characterize the distribution, quantity, andcharacter of lunar polar volatile deposits at thesehigher spatial resolutions. Here we present two casestudies for NASA’s Resource Prospector (RP) missionconcept for a lunar polar rover and utilize this missionarchitecture and associated constraints to evaluatewhether a suitable landing site exists to support an RPflight mission.
NASA's Jet Propulsion Laboratory has built and operated four rovers on the surface of Mars. Two and three dimensional visualization has been extensively employed to command both the mobility and robotic arm operations of these rovers. Stereo visualization has been an important component in this set of visualization techniques. This paper discusses the progression of the implementation and use of visualization techniques for in-situ operations of these robotic missions. Illustrative examples will be drawn from the results of using these techniques over more than ten years of surface operations on Mars.
In planning for future exploration missions, architecture and study teams have made numerous assumptions about how crew can be telepresent on a planetary surface by remotely operating surface robots from space (i.e. from a flight vehicle or deep space habitat). These assumptions include estimates of technology maturity, existing technology gaps, and operational risks. These assumptions, however, have not been grounded by experimental data. Moreover, to date, no crew-controlled surface telerobot has been fully tested in a high-fidelity manner. To address these issues, we developed the "Surface Telerobotics" tests to do three things: 1) Demonstrate interactive crew control of a mobile surface telerobot in the presence of short communications delay. 2) Characterize a concept of operations for a single astronaut remotely operating a planetary rover with limited support from ground control. 3) Characterize system utilization and operator work-load for a single astronaut remotely operating a planetary rover with limited support from ground control.
During Summer 2013, we conducted a series of tests to examine how astronauts in the In- ternational Space Station (ISS) can remotely operate a planetary rover. The tests simulated portions of a proposed mission, in which an astronaut in lunar orbit remotely operates a planetary rover to deploy a radio telescope on the lunar farside. In this paper, we present the design, implementation, and preliminary test results.
The Alpha Particle X-ray Spectrometer (APXS) conducts high-precision in situ measurements of rocks and soils on both active NASA Mars rovers. Since 2004 the rover Opportunity has acquired around 440 unique APXS measurements, including a wide variety of compositions, during its 42+ kilometers traverse across several geological formations. Here we discuss an analytical comparison algorithm providing a means to cluster samples due to compositional similarity and the resulting automated classification scheme. Due to the inherent variance of elements in the APXS data set, each element has an associated weight that is inversely proportional to the variance. Thus, the more consistent the abundance of an element in the data set, the more it contributes to the classification. All 16 elements standard to the APXS data set are considered. Careful attention is also given to the errors associated with the composition measured by the APXS - larger uncertainties reduce the weighting of the element accordingly. The comparison of two targets, i and j, generates a similarity score, S(sub ij). This score is immediately comparable to an average ratio across all elements if one assumes standard weighted uncertainty. The algorithm facilitates the classification of APXS targets by chemistry alone - independent of target appearance and geological context which can be added later as a consistency check. For the N targets considered, a N by N hollow matrix, S, is generated where S = S(sup T). The average relation score, S(sub av), for target N(sub i) is simply the average of column i of S. A large S(sub av) is indicative of a unique sample. In such an instance any targets with a low comparison score can be classified alike. The threshold between classes requires careful consideration. Applying the algorithm to recent Marathon Valley targets indicates similarities with Burns formation and average-Mars-like rocks encountered earlier at Endeavour Crater as well as a new class of felsic rocks.