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NASA NTRS2001

Hydrogeology of Basins on Mars

This document summarizes the work accomplished under NASA Grant NAG5-3870. Emphasis was put on the development of the FIDO rover, a prototype for the twin-Mers which will be operating on the surface of Mars in 2004, specifically the primary work was the analysis of FIDO field trials. The grantees also analyzed VIKING Lander 1 XRFS and Pathfinder APXS data. Results show that the Viking site chemistry is consistent with an andesite, and the Pathfinder site is consistent with a basaltic andesite. The grantees also worked to demonstrate the capability to simulate annealing methods to apply to the inversion of remote sensing data. They performed an initial analyses of Sojourner engineering telemetry and imaging data. They performed initial analyses of Viking Lander Stereo Images, and of Hematite deposits in Terra Meridiani. They also acquired and analyzed the New Goldstone radar data.

Arvidson, Raymond E.↗
NASA NTRS2001

Earth Remote Sensing: A Column Closure Approach

Entering the new millennium, there is no doubt that scientists expand greatly their scientific knowledge of the Earth system by utilizing unique capabilities from the vantage points of space. These global satellite observations include the NASA/NOAA Pathfinder and other ongoing data analysis projects, the Earth Observing System (EOS) program, the Earth System Science Pathfinders (ESSP) small research satellite missions, multi-agency planning for the National Polar-orbiting Operational Environmental Satellite (NPOESS), and other international satellite missions. However, using satellite remotely sensed data alone cannot explore fully the physical processes and energetic balance involved in our changing climate. To close the loop, the ground-based remote sensing and airborne in situ measurements are required. This talk provides an overview of the general strategy of Earth remote sensing for a column closure approach and discusses necessary instrumentation.

Tsay, Si-Chee↗
NASA NTRS1994

Mars Aerocapture Analysis For MESUR/Mars-Pathfinder Aeroshells Using Un-modulated Control in Low L/D Configurations

Aerocapture scenarios are examined to determine the feasibility of using MESUR/Mars Pathfinder aeroshell designs to capture spacecraft aerodynamically into Mars orbit. Using lift over drag (L/D) ratios up to 0.3, entry trajectories were simulated over a range of entry vehicle masses and entry velocities. Entry corridor widths were calculated for undershoot and overshoot trajectories yielding Mars parking orbits having periods from 2 to 20 hours. For entries with L/D = 0.3, entry corridor widths of about 1.2 degrees are possible over entry velocities from 5.5 to 9.0 km/sec. The design constraints for an aeroshell used for orbital aerocapture are less severe than a ballistic entry for a surface lander mission such as Mars Pathfinder, because the aerothermodynamic heating and deceleration loads are smaller. The mass savings from aerocapture orbit insertion versus propulsive insertion into Mars orbit could result in significantly reducing program costs and increasing mission capabilities.

Wercinski, Paul F.↗
NASA NTRS2002

Crossing Mars: Past and Future Missions to a Cold, Dry Desert

Dr. Geoffrey A. Landis of the Photovoltaics and Space Environment Effects Branch presented an overview of recent discoveries about the environment of Mars. He covered missions from the 1966 Mariner IV that returned those first grainy close-up pictures of Mars showing an ancient cratered terrain to the Mars Odyssey mission with its tantalizing evidence of recent water flows on Mars. Mars is one of the most interesting planets in the solar system, featuring enormous canyons, giant volcanoes, and indications that, early in its history, it might have had rivers and perhaps even oceans. Five years ago, in July of 1997, the Pathfinder mission landed on Mars, bringing with it the microwave-oven sized Sojourner rover to wander around on the surface and analyze rocks. Pathfinder is only the first of an armada of spacecraft that will examine Mars from the pole to the equator in the next decade, culminating (someday, we hope!) with a mission to bring humans to Mars.

Landis, Geoffrey A.↗
NASA NTRS2003

A Nonlinear, Six-Degree of Freedom Precision Formation Control Algorithm, Based on Restricted Three Body Dynamics

Precision Formation Flying is an enabling technology for a variety of proposed space-based observatories, including the Micro-Arcsecond X-ray Imaging Mission (MAXIM), the associated MAXIM pathfinder mission, and the Stellar Imager. An essential element of the technology is the control algorithm. This paper discusses the development of a nonlinear, six-degree of freedom (6DOF) control algorithm for maintaining the relative position and attitude of a spacecraft within a formation. The translation dynamics are based on the equations of motion for the restricted three body problem. The control law guarantees the tracking error convergences to zero, based on a Lyapunov analysis. The simulation, modelled after the MAXIM Pathfinder mission, maintains the relative position and attitude of a Follower spacecraft with respect to a Leader spacecraft, stationed near the L2 libration point in the Sun-Earth system.

Bauer, Frank↗
NASA NTRS2003

Simulation-Based Verification of Livingstone Applications

AI software is viewed as a means to give greater autonomy to automated systems, capable of coping with harsh and unpredictable environments in deep space missions. Autonomous systems pose a serious challenge to traditional test-based verification approaches, because of the enormous space of possible situations that they aim to address. Before these systems are put in control of critical applications, appropriate new verification approaches need to be developed. This article describes Livingstone PathFinder (LPF), a verification tool for autonomous diagnosis applications based on NASA's Livingstone model-based diagnosis system. LPF applies state space exploration algorithms to an instrumented testbed, consisting of the Livingstone diagnosis system embedded in a simulated operating environment. The article describes different facets of LPF and reports some experimental results from applying LPF to a Livingstone model of the main propulsion feed subsystem of the X-34 space vehicle. This paper describes Livingstone PathFinder (LPF), a verification tool for autonomous diagnosis applications based on NASA's Livingstone model-based diagnosis system. LPF applies state space exploration algorithms to an instrumented testbed, consisting of the Livingstone diagnosis system embedded in a simulated operating environment. Section 2 provides an overview of Livingstone; Section 3 describes the LPF architecture; Section 4 discusses its applicability; Section 5 reviews some experimental results; Section 6 compares LPF to related verification approaches; Section 7 draws conclusions and discusses some perspectives.

Lindsey, Anthony E.↗
NASA NTRS2003

Mid-Latitude Composition of Mars from Thermal and Epithermal Neutrons

Epithermal neutron data acquired by Mars Odyssey have been analyzed to determine global maps of water-equivalent hydrogen abundance. By assuming that hydrogen was distributed uniformly with depth within the surface, a map of minimum water abundance was obtained. The addition of thermal neutrons to this analysis could provide information needed to determine water stratigraphy. For example, thermal and epithermal neutrons have been used together to determine the depth and abundance of water-equivalent hydrogen of a buried layer in the south polar region. Because the emission of thermal neutrons from the Martian surface is sensitive to absorption by elements other than hydrogen, analysis of stratigraphy requires that the abundance of these elements be known. For example, recently published studies of the south polar region assumed that the Mars Pathfinder mean soil composition is representative of the regional soil composition. This assumption is partially motivated by the fact that Mars appears to have a well-mixed global dust cover and that the Pathfinder soil composition is representative of the mean composition of the Martian surface. In this study, we have analyzed thermal and epithermal neutron data measured by the neutron spectrometer subsystem of the gamma ray spectrometer to determine the spatial distribution of the composition of elements other than hydrogen. We have restricted our analysis to mid-latitude regions for which we have corrected the neutron counting data for variations in atmospheric thickness.

T H Prettyman↗
NASA NTRS2003

Dropping in on Mars

Here I was: 26 years old, I had never worked on a flight project before, and all eyes were on me. Every time I walked by the Pathfinder project office, Tony Spear, the project manager, would throw his arm around me and announce, 'Hey everybody, the whole mission is riding on this guy right here.' Our task was to design and build airbags for Pathfinder s landing on Mars - an approach that had never been used on any mission. Airbags may seem like a simple, low-tech product, but it was eye-opening to discover just how little we knew about them. We knew that the only way to find out what we needed to learn was to build prototypes and test them. We just didn t know how ignorant we were going to be. Airbags seemed like a crazy idea to a lot of people. Nobody ever said that, mind you, but there seemed to be a widespread feeling that the airbags weren t going to work. 'We ll let you guys go off and fool around until you fall flat on your faces.' That was the unspoken message I received day after day.

Rivellini, Tommaso P.↗
NASA NTRS2003

Studies of MGS TES and MPF MET Data

The work supported by this grant was divided into two broad areas: (1) mesoscale modeling of atmospheric circulations and analyses of Pathfinder, Viking, and other Mars data, and (2) analyses of MGS TES temperature data. The mesoscale modeling began with the development of a suitable Mars mesoscale model based upon the terrestrial MM5 model, which was then applied to the simulation of the meteorological observations at the Pathfinder and Viking Lander 1 sites during northern summer. This extended study served a dual purpose: to validate the new mesoscale model with the best of the available in-situ data, and to use the model to aid in the interpretation of the surface meteorological data.

Barnes, Jeff R.↗
NASA NTRS2004

Mapping Rock and Soil Units in the MPF IMP SuperPan Using a Kohonen Self Organizing Map

The 1997 Mars Pathfinder mission provided information on a site in the Ares Vallis floodplain. Initial analysis of multispectral data from the Imager for Mars Pathfinder (IMP) indicated the presence of only a single rock type, the 'gray rock' spectral class and various coated variants thereof (e.g., 'maroon rock'). Continued analysis of the IMP 'SuperPan' mosaic has confirmed multiple examples of a second 'black rock' spectral class existing as small cobbles in the near field and as boulders in the far field. These results are consistent with recent analysis of MGS Thermal Emission Spectrometer (TES) data which indicates that there is likely a mix of both 'Surface Type 1' (ST1) and 'Surface Type 2' (ST2) spectral classes at the MPF landing site. Nominally, the black rock spectral class would correspond to ST1 (basalts) and 'gray rock' would correspond to ST2 (andesites). Orbital remote sensing has also revealed the pervasive presence of layering on Mars. Recently it was suggested that there are extensive outcrops of the black rock spectral class in the SuperPan far field on the flanks of the Twin Peaks and on the rim of Big Crater. These authors suggested that these exposures represented outcrops of black rock from beneath a surficial, flood deposited layer. In this work, we have reexamined the MPF IMP SuperPan mosaic using an artificial neural network self organizing map (SOM) processing architecture in order to classify the distribution of spectral classes within the SuperPan. In this paper, we present initial results from that work and draw specific attention to a subset of the identified spectral classes in order to address questions relating to whether there are extensive exposures of black rock in the IMP far field, what other materials might be exposed in the far field, and what evidence there is for subsurface layering at the MPF landing site.

Farrand, W.↗
NASA NTRS2004

Composition of Simulated Martian Brines and Implications for the Origin of Martian Salts

We report on laboratory experiments that have produced dilute brines under controlled conditions meant to simulate past and present Mars. We allowed an SNC-derived mineral mix to react with pure water under a simulated present-Mars atmosphere for seven months. We then subjected the same mineral mix to a similar aqueous environment for one year, but with a simulated Mars atmosphere that contained the added gases SO2, HCl and NO2. The addition of acidic gases was designed to mimic the effects of volcanic gases that may have been present in the martian atmosphere during periods of increased volcanic activity. The experiments were performed at one bar and at two different temperatures in order to simulate subsurface conditions where liquid water and rock are likely to interact on Mars. The dominant cations dissolved in the solutions we produced were Ca(2+), Mg(2+), Al(3+) and Na(+), while the major anions are dissolved C, F(-), SO4(2-) and Cl(-). Typical solution pH was 4.2 to 6.0 for experiments run with a Mars analog atmosphere, and 3.6-5.0 for experiments with acidic gases added. Abundance patterns of elements in the synthetic sulfate-chloride brines produced under acidic conditions were distinctly unlike those of terrestrial ocean water, terrestrial continental waters, and those measured in the martian fines at the Mars Pathfinder and Viking 1 and 2 landing sites. In particular, the S/Cl ratio in these experiments was about 200, compared with an average value of approx. 5 in martian fines. In contrast, abundance patterns of elements in the brines produced under a present day Mars analog atmosphere were quite similar to those measured in the martian fines at the Mars Pathfinder and Viking 1 and 2 landing sites. This suggests that salts present in the martian regolith may have formed over time as a result of the interaction of surface or subsurface liquid water with basalts in the presence of a martian atmosphere similar in composition to that of today, rather than in an atmosphere higher in acidic volatiles.

Bullock, M. A.↗
NASA NTRS2004

Mars Environmental Chamber for Dynamic Dust Deposition and Statics Analysis

Recent observations of the 2001 dust storms encircling Mars confirm predictions of environmental challenges for exploration. Martian dust has been found to completely mantle the Martian surface over thousands of square kilometers and the opacity of airborne dust has been shown to be capable of modifying atmospheric temperature, radiative transfer and albedo. Planetary dust cycling dynamics are suggested to be a key factor in the evolution of the Martian surface. Long-term robotic and manned exploration of Mars will be confronted by dust deposition in periods of atmospheric calm and violent wind storms. Aeolian dust deposition recorded during the Mars Pathfinder mission was estimated to fall at rates of 20-45 microns per Earth year. Although many tools of exploration will be challenged by coating, adhesion, abrasion and possible chemical reaction of deposited, wind blown and actively disturbed Martian dust, solar cells are thought to be of primary concern. Recent modeling work of power output by gallium arsenide/germanium solar cells was validated by the Pathfinder Lander data and showed power output decreases of 0.1 to 0.5% per Martian day. A major determinant for the optimal positioning angle of solar panels employed in future missions is the angle of repose of the settling dust particles that is dependent on a variety of physical and chemical properties of the particles, the panel surface, and the environmental conditions on the Mars surface. While the effects of many of these factors are well understood qualitatively, quantitative analyses, especially under physical and chemical conditions prevailing on the Mars surface are lacking.

L.E. Moeller↗
NASA NTRS2004

Atmospheric Entry Studies and the Smallest Impact Craters on Mars

High-resolution images from the Mars Orbiter Camera reveal impact craters as small as 10 m [1], and still smaller craters (< 0.5 m) have been inferred from surface boulders at the Pathfinder landing site [2]. Any small-scale impact environment at scales of meters or smaller would obviously be a potent contributor to erosive processes on Mars, to the small-scale evolution of its surface, and to mineralogic/ compositional alterations of its surface materials. It is not very clear from the analysis of Viking and Pathfinder images, however, what the smallest craters are on Mars. As a consequence, it might be informative to consult atmospheric-entry calculations that specify the smallest meteoroid able to survive passage through the present martian atmosphere. We conducted such calculations and perceive them as providing useful constraints for understanding small-scale surface processes on Mars and as possible guides for the interpretation of surface images from past and future lander missions.

Hoerz, F.↗
NASA NTRS2004

Extra Solar Planetary Imaging Coronagraph and Science Requirements for the James Webb Telescope Observatory

1) Extra solar planetary imaging coronagraph. Direct detection and characterization of Jovian planets, and other gas giants, in orbit around nearby stars is a necessary precursor to Terrestrial Planet Finder 0 in order to estimate the probability of Terrestrial planets in our stellar neighborhood. Ground based indirect methods are biased towards large close in Jovian planets in solar systems unlikely io harbor Earthlike planets. Thus to estimate the relative abundances of terrestrial planets and to determine optimal observing strategies for TPF a pathfinder mission would be desired. The Extra-Solar Planetary Imaging Coronagraph (EPIC) is such a pathfinder mission. Upto 83 stellar systems are accessible with a 1.5 meter unobscured telescope and coronagraph combination located at the Earth-Sun L2 point. Incorporating radiometric and angular resolution considerations show that Jovians could be directly detected (5 sigma) in the 0.5 - 1.0 micron band outside of an inner working distance of 5/D with integration times of -10 - 100 hours per observation. The primary considerations for a planet imager are optical wavefront quality due to manufacturing, alignment, structural and thermal considerations. pointing stability and control, and manufacturability of coronagraphic masks and stops to increase the planetary-to- stellar contrast and mitigate against straylight. Previously proposed coronagraphic concepts are driven to extreme tolerances. however. we have developed and studied a mission, telescope and coronagraphic detection concept, which is achievable in the time frame of a Discovery class NASA mission. 2) Science requirements for the James Webb Space Telescope observatory. The James Webb Space Observatory (JWST) is an infrared observatory, which will be launched in 201 1 to an orbit at L2. JWST is a segmented, 18 mirror segment telescope with a diameter of 6.5 meters, and a clear aperture of 25 mA2. The telescope is designed to conduct imaging and spectroscopic observations from 0.6-27 microns. The primary mirror find and understand predicted first light objects, observe galaxies back to their earliest precursors so that we can understand their growth and evolution, unravel the birth and early evolution of stars and planetary systems, and study planetary systems and the origins of life. In this paper we discuss the science goals for JWST in the context of the performance requirements they levy on the observatory.

Clampin, Mark↗
NASA NTRS2003

Development of inner ear afferent connections: forming primary neurons and connecting them to the developing sensory epithelia

The molecular and cellular origin of the primary neurons of the inner ear, the vestibular and spiral neurons, is reviewed including how they connect to the specific sensory epithelia and what the molecular nature of their survival is. Primary neurons of the ear depend on a single basic Helix-Loop-Helix (bHLH) protein for their formation, neurogenin 1 (ngn1). An immediate downstream gene is the bHLH gene neuronal differentiation (NeuroD). Targeted null mutations of ngn1 results in absence of primary neuron formation; targeted null mutation of NeuroD results in loss of almost all spiral and many vestibular neurons. NeuroD and a later expressed gene, Brn3a, play a role in pathfinding to and within sensory epithelia. The molecular nature of this pathfinding property is unknown. Reduction of hair cells in ngn1 null mutations suggests a clonal relationship with primary neurons. This relationship may play some role in specifying the identity of hair cells and the primary neurons that connect with them. Primary neuron neurites growth to sensory epithelia is initially independent of trophic factors released from developing sensory epithelia, but becomes rapidly dependent on those factors. Null mutations of specific neurotrophic factors lose distinct primary neuron populations which undergo rapid embryonic cell death.

Review↗
NASA NTRS2005

Ballistic Range Testing of the Mars Exploration Rover Entry Capsule

Results from a 25 shot ballistic range test of the Mars Exploration Rover (MER) aeroshell are presented. The supersonic pitch damping properties of the MER capsule were characterized between Mach = 1.5 and Mach = 3.5 and total angles-of-attack from 0 degrees to greater than 25 degrees. Three capsule center-of-gravity positions were tested across this range of conditions, 0.27, 0.30 and 0.33 body diameters aft of the nose. Parameter identification results show that the capsule is dynamically unstable at low angles-of-attack across the Mach numbers tested, with instability increasing with lower speeds. This dynamic instability was seen to increase with aft center-of-gravity movement. The MER outer mold line was very similar to the successful Mars Pathfinder capsule with only minor modifications. Pathfinder relied on Viking forced oscillation data for preflight predictions. The pitch damping data calculated from this test program are shown to more accurately reproduce the measured Path finder flight data.

Schoenenberger, Mark↗
NASA NTRS2004

Dust Accumulation and Solar Panel Array Performance on the Mars Exploration Rover (MER) Project

One of the most fundamental design considerations for any space vehicle is its power supply system. Many options exist, including batteries, fuel cells, nuclear reactors, radioisotopic thermal generators (RTGs), and solar panel arrays. Solar arrays have many advantages over other types of power generation. They are lightweight and relatively inexpensive, allowing more mass and funding to be allocated for other important devices, such as scientific instruments. For Mars applications, solar power is an excellent option, especially for long missions. One might think that dust storms would be a problem; however, while dust blocks some solar energy, it also scatters it, making it diffuse rather than beamed. Solar cells are still able to capture this diffuse energy and convert it into substantial electrical power. For these reasons, solar power was chosen to be used on the 1997 Mars Pathfinder mission. The success of this mission set a precedent, as NASA engineers have selected solar power as the energy system of choice for all future Mars missions, including the Mars Exploration Rover (MER) Project. Solar sells have their drawbacks, however. They are difficult to manufacture and are relatively fragile. In addition, solar cells are highly sensitive to different parts of the solar spectrum, and finding the correct balance is crucial to the success of space missions. Another drawback is that the power generated is not a constant with respect to time, but rather changes with the relative angle to the sun. On Mars, dust accumulation also becomes a factor. Over time, dust settles out of the atmosphere and onto solar panels. This dust blocks and shifts the frequency of the incoming light, degrading solar cell performance. My goal is to analyze solar panel telemetry data from the two MERs (Spirit and Opportunity) in an effort to accurately model the effect of dust accumulation on solar panels. This is no easy process due to the large number of factors involved. Changing solar flux (the amount of solar energy reaching the planet), solar spectrum, solar angle, rover tilt, and optical depth (the opacity of the atmosphere due to dust) were the most significant. Microsoft Excel and Visual Basic are used for data analysis. The results of this work will be used to improve the dust accumulation and atmosphere effects model that was first created after the Mars Pathfinder mission. This model will be utilized and applied when considering the design of solar panel array systems on future Mars projects. Based on this data, and depending upon the tenure and application of the mission, designers may also elect to employ special tools to abate dust accumulation, or decide that the expected level of accumulation is acceptable.

Turgay, Eren H.↗
NASA NTRS1997

Structural Design Challenges for Mars Rovers

On July 4, 1997 the Pathfinder Mission Successfully began a new era of robotic exploration of Mars. The primary scientific payload of the Pathfinder Lander is the Sojourner Truth Mars Rover, an autonomous robotic vehicle, which is exploring and conducting scientific measurements on the Mars surface.

Mars Rovers Structural Design↗