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NASA NTRS2020

Corrosion Resistance of Materials in the Mars Environment

This paper presents the results of a literature search of available data relevant to corrosion resistance of materials in the Mars environment, as a background for future experimental work. Corrosion resistance is one of the most important properties in selecting materials for landed spacecraft and structures that will support surface operations for the human exploration of Mars. Currently, the selection of materials is done by assuming that the corrosion behavior of a material on Mars will be the same as that on Earth. This is understandable since there is no data available on the corrosion resistance of materials in the Mars environment. However, given that corrosion is defined as the degradation of a metal that results from its chemical interaction with the environment, it cannot be assumed that corrosion is going to be the same in both environments, since they are significantly different. This theoretical study was motivated by the suggestion, by a team of researchers, that some of the structural degradation observed on Curiosity's wheels may have been caused by corrosive interactions with the transient liquid brines, reported to be present on Mars, while the most significant damage was attributed to mechanical damage. An extensive literature search, on data relevant to corrosion on Mars, confirmed the need to investigate the interaction between materials, used for spacecraft and structures designed to support long-term surface operations on Mars, and the Mars environment. Experimental studies are needed to investigate the corrosion behavior of materials in relevant components of the Mars environment such as: the Mars atmosphere, the presence of brines, the interaction between these brines and materials, the effect of radiation on these interactions, and the possible catalytic effects of the clays present in the Martian regolith. The findings from this theoretical study provide strong justification to conduct experimental work to investigate the interaction between spacecraft materials with simulated Martian environments to reduce Mars exploration costs.

Calle, Luz M.↗
NASA NTRSDate not supplied

TPS and Entry Systems Technologies for Future Mars and Titan Exploration

During the past twenty years, NASA effectively erased earlier Mars mishaps with six successful missions to the Red Planet. These missions delivered one orbiter and five payloads to the surface. Those payloads included three rovers, Spirit (2004) which roamed 11 years, Opportunity (2004) which roamed nearly 15 years, and Curiosity (2012) which is in its ninth year, along with two landers, Phoenix (2008) and InSIGHT (2018). In July, the Mars 2020 mission will send another large rover, Perseverance, which will land in 2021. The InSIGHT mission even demonstrated the capability to send CubeSats along to help with communication back to the surface. NASA has demonstrated the capability to land a metric ton of vehicles plus science instruments on Mars and expects that the same technologies will be equally successful landing Dragonfly on Titan in the 2030’s. The thermal protection systems (TPS) used on the Mars missions are sufficiently developed and matured to continue furthering science on both Mars and Titan, assuming that the TPS materials are sustained by industry. The purpose of this white paper is to encourage further exploration and science on both Mars and Titan because we have the technologies to support them. In addition, we will look forward to human exploration of Mars and identify the improvements in TPS materials required to facilitate landing the larger payloads.

Thermal Protection Systems↗
NASA NTRS2020

Mineralogy of Vera Rubin Ridge from the Mars Science Laboratory CheMin Instrument

Vera Rubin ridge (VRR) is an erosion-resistant feature on the northwestern slope of Mount Sharp in Gale crater, Mars, and orbital visible/short-wave infrared measurements indicate it contains red-colored hematite. The Mars Science Laboratory Curiosity rover performed an extensive campaign on VRR to study its mineralogy, geochemistry, and sedimentology to determine the depositional and diagenetic history of the ridge and constrain the processes by which the hematite could have formed. X-ray diffraction (XRD) data from the CheMin instrument of four samples drilled on and below VRR demonstrate differences in iron, phyllosilicate, and sulfate mineralogy and hematite grain size. Hematite is common across the ridge, and its detection in a gray-colored outcrop suggested localized regions with coarse-grained hematite, which commonly forms from warm fluids. Broad XRD peaks for hematite in one sample below VRR and the abundance of FeOT in the amorphous component suggest the presence of nano-crystalline hematite and amorphous Fe oxides/oxyhydroxides. Well-crystalline akaganeite and jarosite are present in two samples drilled from VRR, indicating at least limited alteration by acid-saline fluids. Collapsed nontronite is present below VRR, but samples from VRR contain phyllosilicate with d(001) = 9.6 Å, possibly from ferripyrophyllite or an acid-altered smectite. The most likely cementing agents creating the ridge are hematite and opaline silica. We hypothesize late diagenesis can explain much of the mineralogical variation on the ridge, where multiple fluid episodes with variable pH, salinity, and temperature altered the rocks, causing the precipitation and crystallization of phases that are not otherwise in equilibrium.

E. B. Rampe↗
NASA NTRSDate not supplied

The Cosmic Radiation Symphony: Soundtrack for a Journey to Mars

Space radiation (SR) is a constant threat to astronauts who journey away from the Earth’s protective magnetosphere. Galactic cosmic rays (GCR) are atomic nuclei from remnants of supernovae and are omnipresent in outer space. These ionized particles travel close to the speed of light and when they traverse biological material,they leave behind a path of damage. Another space radiation threat is from our sun when solar particle events (SPEs), or bursts of energetic protons,occur. Exposure to space radiation can lead to cancer, cardiovascular disease,immune dysfunction, and cognitive and behavioral decrements. Yet humans cannot see, smell, taste, hear,or feel radiation, making it less tangible than other health threats and much more difficult to describe.This is an important gap in risk communication that the Space Radiation Element is working to close within NASA’s Human Research Program. Music and art are powerful means of communicating human emotions and feelings and are effective and creative ways to convey other types of information. In this work, the sonification process was used to transcribe or translate the physical nature of the SR environment on a 3-year mission to Mars into sound, a format perceptible to the human ear. A visual representation for the journey was also developed so the audience can both hear and envision the chronic presence of GCR and the acute and large bursts of energy present in SPEs. Data for this project were derived from the Radiation Assessment Detector on the NASA Curiosity Rover during its outbound cruise to Mars and on the Martian surface, as well as from models of the space radiation environment behind spacecraft shielding. Our data-driven audiovisual composition was realized using custom programmed digital signal processing and graphic design in the programming languages Pure Data and Processing. The data sonification was contextualized in time and space by calculating and visualizing the location of the spacecraft in relation to the other planets during the Mars mission. The finished work is a unique and powerful means of communicating the presence and risk of space radiation, accessible by people of all ages and scientific backgrounds

Richard Snow↗
NASA NTRSDate not supplied

The Search for Chiral Asymmetry as a Potential Biosignature in Samples from Mars

The search for evidence of extraterrestrial life in our solar system is currently guided by our understanding of terrestrial biology and its associated biosignatures. The observed homochirality in all life on Earth, that is, the predominance of “left-handed” or L-amino acids and “right-handed” or D-sugars, is a unique property of life that is crucial for molecular recognition, enzymatic function, information storage and structure and is thought to be a prerequisite for the origin or early evolution of life. Therefore, the detection of L- or D-enantiomeric excesses of chiral amino acids and sugars could be a powerful indicator of extant or extinct life on Mars or other habitable environments in our solar system. The exploration of habitable environments on Mars, including an assessment of the preservation potential for complex organics of either abiotic or biological origin, remains a key goal of both current and future Mars missions. Now with the unambiguous detection of indigenous organic matter in sedimentary rocks on Mars [1-3], NASA’s Curiosity rover has significantly advanced our understanding of the preservation of potential chemical biosignatures in the martian near surface. Although amino acids have not yet been identified by in situ measurements on Mars, if they were present, it is expected that amino acid hydrolysis and racemization would be very slow and any chiral or isotopic signatures from an extinct martian biota could be preserved for billions of years, given the extremely cold and dry surface conditions [4]. One of ESA’s Rosalind Franklin rover payload instruments called the Mars Organic Molecule Analyzer (MOMA) includes a wet chemistry package capable of measuring the enantiomeric ratios of any chiral amino acids present at part-per-million concentrations or higher [5]. The complexity and limited duration of spaceflight operations and the known analytical challenges associated with in situ extraction and characterization of trace reduced organic compounds in ancient rocks make it challenging to determine the origins of martian organic matter found to date. Coordinated state-of-the-art laboratory measurements of returned samples from Mars that include spatially resolved chemical, mineralogical, and isotopic studies and molecule-specific isotopic and enantiomeric measurements will be required to firmly establish whether the complex organic matter detected on Mars comes from biotic or abiotic sources. Ultimately, sample return may be our best chance of identifying chemical biosignatures from a past or present martian biota, if one ever existed on Mars. NASA’s Perseverance rover will collect dozens of surface sample cores for possible future return to Earth by NASA and ESA. Here we review our current knowledge of the distributions and enantiomeric and isotopic compositions of non-biological amino acids found in meteorites compared to terrestrial biochemistry and propose a set of measurement criteria that should be used to help establish the origin of any chiral asymmetry detected in samples from Mars [6].

Daniel P Glavin↗
NASA NTRSDate not supplied

The Mineralogy and Sedimentary History of the Glen Torridon Region, Gale Crater, Mars

Gale crater was selected as Curiosity’s landing site largely because, from orbit, phyllosilicate-rich strata were identified on the slopes of Mt. Sharp. This phyllosilicate unit was later dubbed the Glen Torridon (GT) region, and the rover has been traversing this region since early January 2019. On Earth, phyllosilicates in the rock record preserve a history of aqueous conditions, overprinted with paleoclimate and environmental signatures. Thus, the GT is a highly anticipated region of exploration in Gale crater, and the mineralogy of its sedimentary rocks may provide clues to its ancient origin.

M. T. Thorpe↗
NASA NTRS2017

Improving Slip Prediction on Mars Using Thermal Inertia Measurements

Rovers operating on Mars have been delayed, diverted, and trapped by loose granular materials. Vision-based mobility prediction approaches often fail because hazardous sand is difficult to distinguish from safe sand based on surface appearance alone. Unlike surface appearance, the thermal inertia of terrain is directly correlated to the same geophysical properties that control slip. This paper presents a quantitative analysis showing that considering thermal inertia improves rover slip prediction on Mars using in-situ data from the Curiosity rover. Thermal inertia is estimated for each slip measurement in sand using both on-board and orbital instruments. Slip models are learned using a mixture of experts approach where the experts are identified using thermal inertia. Two-expert models are compared to a single-expert, vision-only model to show that slip predictions are improved by separating high-slip, low thermal inertia sand from low-slip, high thermal inertia sand. These results support the hypothesis that the consideration of thermal inertia improves mobility estimates for rovers on Mars.

Nesnas, Issa A.↗
NASA NTRS2019

Mars 2020 mission design and navigation overview

Following the exceptionally successful Mars Science Laboratory mission which placed the Curiosity rover in the interior of Gale Crater in August 2012, NASA will launch the next rover in the 2020 Earth to Mars opportunity arriving to the Red Planet in February 2021 to explore areas suspected of former habitability and look for evidence of past life. This paper details the mission and navigation requirements set by the Project and how the final mission design and navigation plan satisfies those requirements.

Wong, Mau↗
NASA NTRS2017

Mars 2020 Mobility Actuator Thermal Testing and Model Correlation

This paper describes the thermal testing and model correlation of a mobility actuator planned for use on the Mars 2020 Rover. The mobility actuator is identical to those which have been successfully flown and operated on the Mars Science Laboratory (MSL) Curiosity rover since its successful landing on Mars in August of 2012. The actuator consists of a motor, brake, and encoder paired with a four stage planetary gear box. In this thermal test, the actuator was instrumented with a number of thermocouples on both the interior and exterior of the gearbox. Heaters and a cold plate were used to generate thermal gradients across the actuator in vacuum, low pressure GN2, and low pressure CO2 environments in an effort to correlate a thermal model and develop a better understanding of how heat flows through the mechanism. This testing resulted in the successful model correlation of a simplified thermal model, and yielded important insights regarding the conductance of ball bearings and gear-to-gear contact. Ball bearing thermal conductance in a low pressure environment can be estimated by using correlations for vacuum thermal conductance along with a multiplier to account for increased gas conduction, and gear-to-gear conductance can be estimated by accounting for gas and grease conduction between two gears.

Novak, Keith↗
NASA NTRS2017

NASA Mars 2020 landed mission development

In January of 2014, NASA received fifty-eight proposals from U.S. and international teams for science and exploration technology investigations, for consideration for inclusion as part of NASA’s next mobile landed mission to Mars. The results of the competitive procurement were released in late July of 2014: Seven payloads were selected for the investigations that would contribute to meeting the overall objectives of the mission. The extraordinary scientific and technology development interest in the Mars 2020 mission is a direct result of NASA’s sustained and coordinated plan for the exploration of Mars, and ultimately, its search for life elsewhere in the universe. The Mars 2020 Mission will preserve the heritage and directly build upon NASA’s Mars Science Laboratory Mission and Curiosity Rover to implement its mission. In this paper, early development history leading to its development announcement, as well as key development status and design features for its implementation, is summarized.

Abilleira, Fernando↗
NASA NTRS2018

Detecting Spacecraft Anomalies Using LSTMs and Nonparametric Dynamic Thresholding

As spacecraft send back increasing amounts of telemetry data, improved anomaly detection systems are needed to lessen the monitoring burden placed on operations engineers and reduce operational risk. Current spacecraft monitoring systems only target a subset of anomaly types and often require costly expert knowledge to develop and maintain due to challenges involving scale and complexity. We demonstrate the effectiveness of Long Short-Term Memory (LSTMs) networks, a type of Recurrent Neural Network (RNN), in overcoming these issues using expert-labeled telemetry anomaly data from the Soil Moisture Active Passive (SMAP) satellite and the Mars Science Laboratory (MSL) rover, Curiosity. We also propose a complementary unsupervised and nonparametric anomaly thresholding approach developed during a pilot implementation of an anomaly detection system for SMAP, and offer false positive mitigation strategies along with other key improvements and lessons learned during development.

Soderstrom, Tom↗
NASA NTRS2018

Plans and Concepts for a New Generation of RTGs for Planetary Science Missions

Of the six types of radioisotope thermoelectric generators NASA has flown in space, only the Multi-Mission Radioisotope Thermoelectric Generator (MMRTG) is currently available for spaceflight, and it relies on technology first used for RTGs in the 1970s. The MMRTG is a rugged power system capable of delivering 110W at launch. NASA is considering future missions with higher power demands however, and sponsored a study to identify concepts and plans to address those needs. The Director of NASA’s Planetary Sciences Division was briefed on a potential enhancement to the MMRTG in late-2012, just a couple of days after the landing of the Mars Science Laboratory rover, Curiosity, on Mars. NASA subsequently funded system-level engineering and technology maturation tasks for a proposed enhanced MMRTG, or eMMRTG, in fiscal year 2013. There was no plan to build a complete generator, rather the engineering of one, and the transfer of technology from laboratories at the Jet Propulsion Laboratory to industry were begun. NASA has now formed a Project to take the eMMRTG from technology to a qualification unit. This would form the first of a new generation of RTGs in 50 years. NASA has also formed a Project for a Next-Generation RTG concept based upon a study led by this author and a large team. NASA’s Radioisotope Power Systems (RPS) Program set the objective for the study to explore what possible options NASA has for Next-Generation-RTGs. The scope and breadth of the study included many possible destinations within the solar system, and traded a variety of RTG conceptual designs, and risk rated a variety of thermoelectric materials and couple configurations. Requirements were defined for the RTG concepts, a variety of thermoelectric materials were evaluated to find the most mature candidates, and performance was estimated for each RTG concept that could use the most mature of these new thermoelectric materials. The study relied upon mission concepts outlined in the latest Planetary Science Decadal Survey (2011), other more recent mission studies completed throughout the agency, and recent analyses of potential missions to ocean worlds to identify requirements that were not applied to previous RTGs but might prove valuable to these NG-RTGs. RTG concepts with maximal potential utility were identified as being modular and ranging in power output from 50 to 500W. A variety of RTG design concepts with several distinguishing characteristics were formulated. The plans and concepts for a new generation of RTGs (the eMMRTG and NG-RTG) will be discussed.

Woerner, David F.↗
NASA NTRS2019

SSIM: NASA Mars rover robotics flight software simulation

The focus of SSim on MSL was the robotic flight software, including rover mobility and navigation, robotic arm manipulation, and sample acquisition, processing, and delivery. It can execute behaviors in simulation a thousand times faster than they execute in real time on the flight compute element. SSim is used by rover drivers to develop and validate command sequences throughout the planning cycle. SSim has been used to plan all of the Curiosity robotic operations since landing and is expected to continue to be used for the remaining life of the rover.

Leger, Chris↗
NASA NTRS2016

Design of an Excavation Robot: Regolith Advanced Surface Systems Operations Robot (RASSOR) 2.0

To continue on a sustainable and flexible path, NASA needs to address the challenge of collecting and moving large amounts of regolith at the destination. Acquiring the water resources on Mars will require mining significant quantities of regolith and this is not possible with the state-of-the-art low mass excavation systems. Low gravity environments (Mars = 3/8 G) and launch mass restrictions limit the traction and the resulting reaction force of the vehicle, making current terrestrial techniques impractical. This project addressed this challenge by developing a completely new technology that can mine large quantities of regolith on Mars. Recent measurements by the “Curiosity” rover on Mars have found that the regolith contains ~ 2% water by weight globally, ~4% in Jezero Crater (Human Architecture Team’s reference landing site), and much more at the poles(Leshin et al, 2013). RASSOR 2.0 is a planetary excavator, which has a mass of 66 kg, with a 0.38 kg vehicle mass per kilogram, per hour of excavation rate and power usage of 4 W per kg of regolith excavation rate. A single RASSOR 2.0 can excavate a minimum of 2.7 metric tons of regolith per day.This is accomplished by using counteracting excavation forces on two opposing digging implements called bucket drums and an autonomous mining control system. This work has addressed several major research areas outlined in the NASA Technology Area (TA) 04 Robotics & Autonomous Systems and TA 07 Human Destination Systems roadmaps. This project started at Technology Readiness Level (TRL) 4 as a low fidelity “proof of concept” prototype which has successfully demonstrated basic regolith simulant excavation functionality in a lab-scale gravity off load test. The foundational technology described here was awarded US patent number: US 9027265 for a “Zero horizontal reaction force excavator” on May 12, 2015.

RASSOR↗
NASA NTRS2019

Thermal testing of a Mars 2020 enhanced engineering camera

The upcoming Mars 2020 rover mission is introducing a new generation of engineering cameras (ECAMs) called the enhanced engineering cameras (EECAMs), which have advanced imaging capability over the previous ECAMs used on the Spirit, Opportunity, and Curiosity rovers. The Mars 2020 rover will have nine EECAMs – six upgraded HazCams used for hazard avoidance, two upgraded NavCams used for navigation, and a single CacheCam used to take images of samples obtained by the rover’s Sampling and Caching Subsystem (SCS). The detailed EECAM design was completed in April 2017, and since then the EECAM Subsystem has been in the process of fabrication, integration, and testing. This paper describes two thermal tests that were done for thermal model correlation and validation of the EECAM thermal design during Mars surface operations.

Novak, Keith S.↗
NASA NTRS2020

Evidence for Multiple Diagenetic Episodes in Ancient Fluvial‐Lacustrine Sedimentary Rocks in Gale Crater, Mars

The Curiosity rover's exploration of rocks and soils in Gale crater has provided diverse geochemical and mineralogical data sets, underscoring the complex geological history of the region. We report the crystalline, clay mineral, and amorphous phase distributions of four Gale crater rocks from an 80‐m stratigraphic interval. The mineralogy of the four samples is strongly influenced by aqueous alteration processes, including variations in water chemistries, redox, pH, and temperature. Localized hydrothermal events are evidenced by gray hematite and maturation of amorphous SiO 2 to opal‐CT. Low‐temperature diagenetic events are associated with fluctuating lake levels, evaporative events, and ground water infiltration. Among all mudstones analyzed in Gale crater, the diversity in diagenetic processes is primarily captured by the mineralogy and X‐ray amorphous chemistry of the drilled rocks. Variations indicate a transition from magnetite to hematite and an increase in matrix‐associated sulfates suggesting intensifying influence from oxic, diagenetic fluids up section. Furthermore, diagenetic fluid pathways are shown to be strongly affected by unconformities and sedimentary transitions, as evidenced by the intensity of alteration inferred from the mineralogy of sediments sampled adjacent to stratigraphic contacts.

C N Achilles↗
NASA NTRS2020

Billion-year exposure ages in Gale crater (Mars) indicate Mount Sharp formed before the Amazonian period

The erosion rates and mechanisms operating on Mount Sharp in Gale crater, Mars were assessed via experiments performed by the SAM instrument to determine the cosmogenic noble gas contents of Murray mudstone formation samples Mojave 2 and Quela. Previous measurements of samples from the Aeolis Palus depression between Mount Sharp and the north rim of Gale crater indicate that scarp retreat-generated surfaces formed within the last 100 Ma. In contrast, Mojave 2 yielded exposure ages of 1,320±240 (3He), 910±420 (21Ne), and 310±60 Ma (36Ar). Quela gave a 3He age of 1,460±200 Ma; 21Ne and 36Ar from this sample could not be quantified due to isobaric interferences. The discordant and young 36Ar exposure age in Mojave 2 is likely the result of interaction with water which dissolved the chlorine-bearing host phases of this nuclide. The most probable exposure scenario is that both Mojave 2 and Quela have been at the surface for the most recent ∼1 Ga after the overlying few meters of rock were removed in a geologically rapid exhumation episode. Based on local geomorphology, scarp retreat is the most likely mechanism for the exposure at these two sites. The exposure ages measured throughout Curiosity’s traverse indicate that the net removal of rock has proceeded more recently on Aeolis Palus than on the lower slopes of Mount Sharp. The implied differential erosion rate is insufficient to explain how Mount Sharp formed, even over billions of years. Instead, given that the surfaces on Mount Sharp have existed for >1 Ga, the mountain must have formed early, likely during the Hesperian. This study provides direct quantitative support for inferences based on crater counts that Mount Sharp had eroded to close to its current form before onset of the Amazonian.

Peter E. Martin↗
NASA NTRSDate not supplied

Mars 2020 Thermal Protection Systems Sizing and Development

The Mars 2020 spacecraft delivering the Perseverance Rover to Mars was planned to be a build-to-print repeat of the Mars Science Laboratory (MSL) spacecraft that delivered the Curiosity Rover to Mars in 2012. The 2020 mission would deliver a slightly higher mass at a lower entry velocity, so the mission designers were comfortable with the cost saving approach of using an already proven design. The approach used in sizing the thermal protection systems (TPS) for the various components of the MSL spacecraft included convective heating and shock layer radiation (a small contributor) on the heatshield and only convective heating on all of the aft body parts. At the time, it was assumed that the contribution of radiation from the shock layer and the wake was negligible on the aft body at Mars. In the time since the MSL spacecraft was designed, in light of new data and analysis, NASA realized the significance of radiative heating in the aftbody on vehicles entering Mars, beginning with the InSight entry. New analyses showed that the radiant heat fluxes on aft body components at Mars were of the same order or even larger than predicted convective heat fluxes. The Mars 2020 team was tasked with showing that the TPS thicknesses designed for MSL with only convective heating would survive the Mars 2020 convective plus radiative heat flux environments. Luckily, many of the MSL aft body components were sized using an extra conservative approach, often sizing for the worst environment at the lightest, thinnest structure, even though the environments and structures were not co-located. The Mars 2020 team had to more accurately evaluate the environments and structures to show that the design would close

Mars Entry↗