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On July 4, 1997 the Mars Pathfinder Spacecraft and Sojourner Microrover safely landed on the surface of Mars and began an ambibitious mission of exploration.
The U.S. Mars Exploration Program comprises at least on Discovery mission (Mars Pathfinder), and Mars Surveyor Program, plus sample return missions and other missions to prepare for possible human expeditions to Mars. The original themes of the Mars Surveyor Program (which are still the official program goals) are to understand Life, Climate and Resources on Mars, with these themes tied together by the common thread of Water. The ability to move about the Martian surface is key to the Mars Exploration Program. This paper addresses the overall Mars Exploration Program strategy, with an emphasis of the role of rovers in the program. Specifically, the need for improvements in rover performance is addressed.
The Mars Rover has been built, environmentally tested and qualified for the 1996 launch of the Pathfinder mission to Mars. The basic structure for the thermal control for the Mars Rover is the Warm Electronics Box (WEB). This consists of a thermal isolating composite structure with co-cured thermal control surfaces and an ultralightweight hydrophobic solid silica aerogel which minimizes conduction and radiation.
The status of three space missions is summarized: Galileo at Jupiter, Cassini in development for a Saturn mission, and Mars Pathfinder in development.
Because the alpha proton X ray spectrometer (APXS) sensor head on the Mars Pathfinder rover, Sojourner, is placed on Martian soil by the deployment mechanism (ADM), the rover would be crippled if the actuator fails when the mechanism is in its deployed position, as rover ground clearance is then reduced to zero. This paper describes the unique fail-safe mounted on the ADM, especially the use of a low-temperature-melting alloy as a coupler device. The final form of the design is a low-melting-point metal pellet coupler, made from Cerrobend, in parallel with a Negator spring pack. In its solid state, the metal rigidly connects the driver (the actuator) and the driven part (the mechanism). When commanded, a strip heater wrapped around the coupler melts the metal pellet (at 60(deg)C), allowing the driven part to turn independent of the driver. The Negator spring retracts the mechanism to its fully stowed position. This concept meets all the design criteria, and provides an added benefit. When the metal hardens the coupler once again rigidly connects the actuator and the mechanism. The concept presented here can easily be applied to other applications. Anywhere release devices are needed, low-melting-point couplers can be considered. The issues to be concerned with are thermal isolation, proper setting of the parts before actuation, and possible outgassing concerns. However, when these issues are overcome, the resulting release mechanism can promise to be the most light, simple, power conserving alternative available.
A methodology for estimating the AC impedance of solar arrays and in particular the Mars Pathfinder (MPF) cruise and lander solar arrays is presented.
NASA has embarked on a new mission concept for its planetary program. This new mission concept calls for smaller, lower mass, cheaper systems. The Mars Pathfinder micro rover mission scheduled for launch in 1996 embodies this new mission concept.
This paper discusses a task the objective of which is to characterize solar cell array AC impedance and develop scaling rules for impedance characterization of large arrays by testing single solar cells and small arrays. This effort is aimed at formulating a methodology for estimating the AC impedance of the Mars Pathfinder (MPF) cruise and lander solar arrays based upon testing single cells and small solar cell arrays and to create a basis for design of a single shunt limiter for MPF power control of flight solar arrays having very different inpedances.
With NASA's spectacular return to Mars on July 4th 1997, the Mars Pathfinder Lander and its Sojourner Microrover have set a new standard for Faster, Better, Cheaper space exploration missions.
The Orbiting Carbon Observatory (OCO) mission was selected by NASA's Office of Earth Science as the fifth mission in its Earth System Science Pathfinder (ESSP) Program. OCO will make the first global, space-based measurements of atmospheric CO2 with the precision, resolution, and coverage needed to characterize sources and sinks of this important greenhouse gas. These measurements will improve our ability to forecasts CO2-induced climate change. OCO will fly in a 1:15 PM sun-synchronous orbit, sharing its ground track with the Earth Observing System (EOS) Aqua platform. It will carry high-resolution spectrometers to measure reflected sunlight in the molecular oxygen (O2) A-band at 0.76-microns and the CO2 bands at 1.61 and 2.06 microns to retrieve the column-averaged CO2 dry air mole fraction, XCO2. A comprehensive validation and correlative measurement program has been incorporated into this mission to ensure that XCO2 can be retrieved with precisions of 0.3% (1 ppm) on regional scales.
The NASA Earth Science System Pathfinder (ESSP) mission Aquarius will measure global sea surface salinity with 100-km spatial resolution every 8 days with an average monthly salinity accuracy of 0.2 psu (parts per thousand). This requires an L-band low-noise radiometer with the long-term calibration stability of less than 0.1 K over 8 days. This three-year research program on ultra stable radiometers has addressed the radiometer requirements and configuration necessary to achieve this objective for Aquarius and future ocean salinity missions. The system configuration and component performance have been evaluated with radiometer testbeds at both JPL and GSFC. The research has addressed several areas including component characterization as a function of temperature, a procedure for the measurement and correction for radiometer system non-linearity, noise diode calibration versus temperature, low noise amplifier performance over voltage, and temperature control requirements to achieve the required stability. A breadboard radiometer, utilizing microstrip-based technologies, has been built to demonstrate this long-term stability. This report also presents the results of the radiometer test program, a detailed radiometer noise model, and details of the operational switching sequence optimization that can be used to achieve the low noise and stability requirements. Many of the results of this research have been incorporated into the Aquarius radiometer design and will allow this instrument to achieve its goals.
The Orbiting Carbon Observatory (OCO) is a NASA Earth System Science Pathfinder (ESSP) mission that is currently under development at the Jet Propulsion Laboratory (JPL). OCO will make global, space-based measurements of atmospheric carbon dioxide (CO2) with the precision, resolution, and coverage needed to characterize regional-scale sources and sinks of this important greenhouse gas. The observatory consists of a dedicated spacecraft bus that carries a single instrument. The bus employs single-string version of Orbital Sciences Corporation (OSC) LEOStar-2 architecture. This 3-axis stabilized bus includes a propulsion system for orbit insertion and maintenance, provides power, points the instrument, receives and processes commands from the ground, and records, stores, and downlinks science and engineering data. The OCO instrument incorporates 3 oboresighted, high resolution grating spectrometers that will make coincident measurements of reflected sunlight in near-infrared CO2 and molecular oxygen (O2) bands. The instrument was designed and manufactured by Hamilton Sundstrand (Pomona, CA), and then integrated, flight qualified, and calibrated by JPL. It is scheduled for delivery to OSC (Dulles, VA) for integration with the spacecraft bus in the spring of 2008. OCO will be launched from the Vandenberg Air Force Base on a dedicated OSC Taurus XL launch vehicle in December 2008. It will fly in formation with the Earth Observing System Afternoon Constellation, a group of satellites that files in a 98.8 minute, 705 km altitude, sun-synchronous orbit. This orbit provides coverage of the sunlit hemisphere with a 16-day ground track repeat cycle. OCO will fly approx.4 minutes ahead of the EOS Aqua platform, with an ascending nodal crossing time of approx.1:26 PM. The OCO science data will be transmitted to the NASA Ground Network Stations in Alaska and Virginia, and then transferred to the OCO Ground Data System at JPL. There, the CO2 and O2 spectra will be analyzed by the OCO Science Team to provide spatially resolved estimates of the column-averaged CO2 dry air mole fraction, XCO2. These measurements are expected to improve our understanding of the nature and processes that regulate atmospheric CO2 enabling more reliable forecasts of CO2 buildup and its impact on climate change.
Documenting existing Java PathFinder (JPF) projects or developing new extensions is a challenging task. JPF provides a platform for creating new extensions and relies on key-value properties for their configuration. Keeping track of all possible options and extension mechanisms in JPF can be difficult. This paper presents jpf-autodoc-options, a tool that automatically extracts JPF projects options and other documentation-related information, which can greatly help both JPF users and developers of JPF extensions.
Humankind will detect the first gravitational wave (GW) signals from the Universe in the current decade using ground-based detectors. But the richest trove of astrophysical information lies at lower frequencies in the spectrum only accessible from space. Signals are expected from merging massive black holes throughout cosmic history, from compact stellar remnants orbiting central galactic engines from thousands of close contact binary systems in the Milky Way, and possibly from exotic sources, some not yet imagined. These signals carry essential information not available from electromagnetic observations, and which can be extracted with extraordinary accuracy. For 20 years, NASA, the European Space Agency (ESA), and an international research community have put considerable effort into developing concepts and technologies for a GW mission. Both the 2000 and 2010 decadal surveys endorsed the science and mission concept of the Laser Interferometer Space Antenna (LISA). A partnership of the two agencies defined and analyzed the concept for a decade. The agencies partnered on LISA Pathfinder (LPF), and ESA-led technology demonstration mission, now preparing for a 2015 launch. Extensive technology development has been carried out on the ground. Currently, the evolved Laser Interferometer Space Antenna (eLISA) concept, a LISA-like concept with only two measurement arms, is competing for ESA's L2 opportunity. NASA's Astrophysics Division seeks to be a junior partner if eLISA is selected. If eLISA is not selected, then a LISA-like mission will be a strong contender in the 2020 decadal survey. This Technology Development Roadmap (TDR) builds on the LISA concept development, the LPF technology development, and the U.S. and European ground-based technology development. The eLISA architecture and the architecture of the Mid-sized Space-based Gravitational-wave Observatory (SGO Mid)-a competitive design with three measurement arms from the recent design study for a NASA-led mission after 2020-both use the same technologies. Further, NASA participation in an ESA-led mission would likely augment the eLISA architecture with a third arm to become the SGO Mid architecture. For these reasons, this TDR for a future GW mission applies to both designs and both programmatic paths forward. It is adaptable to the different timelines and roles for an ESA-led or a NASA-led mission, and it is adaptable to available resources. Based on a mature understanding of the interaction between technology and risk, the authors of this TDR have chosen a set of objectives that are more expansive than is usual. The objectives for this roadmap are: (1) reduce technical and development risks and costs; (2) understand and, where possible, relieve system requirements and consequences; (3) increase technical insight into critical technologies; and (4) validate the design at the subsystem level. The emphasis on these objectives, particularly the latter two, is driven by outstanding programmatic decisions, namely whether a future GW mission is ESA-led or NASA-led, and availability of resources. The relative emphasis is best understood in the context of prioritization.
In this study, the authors apply a clustering algorithm to International Satellite Cloud Climatology Project (ISCCP) cloud optical thickness-cloud top pressure histograms in order to derive weather states (WSs) for the global domain. The cloud property distribution within each WS is examined and the geographical variability of each WS is mapped. Once the global WSs are derived, a combination of CloudSat and Cloud-Aerosol Lidar and Infrared Pathfinder Satellite Observations (CALIPSO) vertical cloud structure retrievals is used to derive the vertical distribution of the cloud field within each WS. Finally, the dynamic environment and the radiative signature of the WSs are derived and their variability is examined. The cluster analysis produces a comprehensive description of global atmospheric conditions through the derivation of 11 WSs, each representing a distinct cloud structure characterized by the horizontal distribution of cloud optical depth and cloud top pressure. Matching those distinct WSs with cloud vertical profiles derived from CloudSat and CALIPSO retrievals shows that the ISCCP WSs exhibit unique distributions of vertical layering that correspond well to the horizontal structure of cloud properties. Matching the derived WSs with vertical velocity measurements shows a normal progression in dynamic regime when moving from the most convective to the least convective WS. Time trend analysis of the WSs shows a sharp increase of the fair-weather WS in the 1990s and a flattening of that increase in the 2000s. The fact that the fair-weather WS is the one with the lowest cloud radiative cooling capability implies that this behavior has contributed excess radiative warming to the global radiative budget during the 1990s.
The Orbiting Carbon Observatory is scheduled for launch from Vandenberg Air Force Base in California in January 2009. This Earth System Science Pathfinder (ESSP) mission carries and points a single instrument that incorporates 3 high-resolution grating spectrometers designed to measure the absorption of reflected sunlight by near-infrared carbon dioxide (CO2) and molecular oxygen bands. These spectra will be analyzed to retrieve estimates of the column-averaged CO2 dry air mole fraction, X(sub CO2). Pre-flight qualification and calibration tests completed in early 2008 indicate that the instrument will provide high quality X(sub CO2) data. The instrument was integrated into the spacecraft, and the completed Observatory was qualified and tested during the spring and summer of 2008, in preparation for delivery to the launch site in the fall of this year. The Observatory will initially be launched into a 635 km altitude, near-polar orbit. The on-board propulsion system will then raise the orbit to 705 km and insert OCO into the Earth Observing System Afternoon Constellation (A-Train). The first routine science observations are expected about 45 days after launch. Calibrated spectral radiances will be archived starting about 6 months later. An exploratory X(sub CO2) product will be validated and then archived starting about 3 months after that.
The Mid-Lift-to-Drag Ratio Rigid Vehicle (MRV) is a proposed candidate in the NASA Evolvable Mars Campaign's (EMC) Pathfinder Entry, Descent, and Landing (EDL) architecture study. The purpose of the study is to design a mission and vehicle capable of transporting a 20mt payload to the surface of Mars. The MRV is unique in its rigid, asymmetrical lifting-body shape which enables a higher lift-to-drag ratio (L/D) than the typical robotic Mars entry capsule vehicles that carry much less mass. This paper presents the formulation and six-degree-of-freedom (6DOF) performance of the MRV's control system, which uses both aerosurfaces and a propulsive reaction control system (RCS) to affect longitudinal and lateral directional behavior.
Our concept, Enceladus Vent Explorer (EVE), is a robotic pathfinder mission to enter these doors. EVE's goals are to descend into erupting conduits up to ~2 km deep, characterize the unknown interior structure of the vent-conduit system, assess the accessibility to the subsurface ocean through the vent-conduit system, potentially reach the liquid interface, and perform astrobiology and volcanology observations in the vent-conduit system. EVE sends two types of modules: Surface Module (SM) and Descent Module (DM). SM is a lander that stays on the surface, while tens of small (~3 kg, 10 cm in width and 30 cm in length) DMs separate from SM, move to a vent, and descend into it. DMs rely on a power and communication link provided by SM through a cable. As the payload volume of DM is extremely limited, each DM can carry only a single miniaturized instrument. This limitation is complemented by heterogeneity. There are several types of DMs, all of which share the common mobility system but carry different instruments. For example, a "scout DM" creates a 3-D map of the geyser system with its stereo cameras and structured light. A "sample return DM" collects particles and ice cores in the vent and deliver them to the mass spectrometer in the SM. An "in-situ science DM" carries science instruments, such as a microscopic imager and a microfluidics chip for biosignature detection. DMs are sent either sequentially or in parallel.