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

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At least 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS2006

ROCK AND SOIL PHYSICAL PROPERTIES AT THE MER GUSEV CRATER AND MERIDIANI PLANUM LANDING SITES

Following the successful landings of both Mars Exploration Rover (MER) vehicles at Gusev Crater and Meridiani Planum, respectively, their Athena suite of instruments is being used to study the geologic history of these two very different landing sites on Mars that had been selected on the basis of showing different types of evidence for aqueous processes in the planet s past. Utilizing the on-board instruments as well as the rovers mobility system, a wide range of physical properties investigations is carried out as well - the subject of this abstract - that provide additional information on the geology and processes at the sites. Results of the mission in general as well as of the physical properties studies thus far greatly exceed expectations in that observations and measurements by both vehicles show a rich variety in materials and processes: the Gusev site in the vicinity of the lander is remarkably flat and generally devoid of large rocks along traverses up to the time of this writing (approx.Sol 50) and suggestive of a deflated surface with generally only thin veneers of bright dust while exhibiting evidence of a widespread occurrence of a crust from cemented fines that has been observed to fail in the form of blocky clods when disturbed by vehicle rolling action; numerous small and shallow depressions - presumably created by impacts - are observed at the site which are infilled with bright, fine-grained material that likewise appears indurated and which was studied by a trenching experiment; small ripple bedforms are scattered across the site and were characterized in terms of particle size distributions. At the Meridiani site, studies so far - up to approx.Sol 33 - have focussed on soils and the rock outcrop encountered within the approx.20 m diameter crater that the spacecraft came to rest in: from a physical properties point of view, a mantle of dark, well-sorted, apparently basaltic sand with small to moderate cohesion has been of interest - and has been studied by a trenching experiment - as well as a fine-grained unit underlying the mantle at least locally within the crater. Rock grindings were accomplished successfully at both sites at the time of this writing, suggesting different strengths of the two targets (the basaltic rock nicknamed Adirondack at Gusev and the Meridiani rock outcrop) in addition to enabling compositional measurements below the original rock surfaces.

Ming, Douglas W.↗
NASA NTRS2003

Microbial Certification of the MER spacecraft

Spacecraft such as the Mars Exploration Rovers (MER) must meet acceptable microbial population levels prior to launch. Sensitive parts and materials prevent any single sterilization method from being used as a final step on the assembled spacecraft.

spore bioburden Mars Exploration Rover dry hear mi↗
NASA NTRS2005

MER-DIMES : a planetary landing application of computer vision

During the Mars Exploration Rovers (MER) landings, the Descent Image Motion Estimation System (DIMES) was used for horizontal velocity estimation. The DIMES algorithm combines measurements from a descent camera, a radar altimeter and an inertial measurement unit. To deal with large changes in scale and orientation between descent images, the algorithm uses altitude and attitude measurements to rectify image data to level ground plane. Feature selection and tracking is employed in the rectified data to compute the horizontal motion between images. Differences of motion estimates are then compared to inertial measurements to verify correct feature tracking. DIMES combines sensor data from multiple sources in a novel way to create a low-cost, robust and computationally efficient velocity estimation solution, and DIMES is the first use of computer vision to control a spacecraft during planetary landing. In this paper, the detailed implementation of the DIMES algorithm and the results from the two landings on Mars are presented.

landing systems↗
NASA NTRS2002

Critical Spacecraft-to-Earth Communications for Mars Exploration Rover (MER) entry, descent and landing

For planetary lander missions, the most challenging phase of the spacecraft to ground communications is during the entry, descent, and landing (EDL). As each 2003 Mars Exploration Rover (MER) enters the Martian atmosphere, it slows dramatically. The extreme acceleration and jerk cause extreme Doppler dynamics on the X-band signal received on Earth. When the vehicle slows sufficiently, the parachute is deployed, causing almost a step in deceleration. After parachute deployment, the lander is lowered beneath the parachute on a bridle. The swinging motion of the lander imparts high Doppler dynamics on the signal and causes the received signal strength to vary widely, due to changing antenna pointing angles. All this time, the vehicle transmits important health and status information that is especially critical if the landing is not successful. Even using the largest Deep Space Network antennas, the weak signal and high dynamics render it impossible to conduct reliable phase coherent communications. Therefore, a specialized form of frequency-shift-keying will be used. This paper describes the EDL scenario, the signal conditions, the methods used to detect and frequency-track the carrier and to detect the data modulation, and the resulting performance estimates.

entry, descent, and landing communications↗
NASA NTRS2007

Iron Mineralogy and Aqueous Alteration on Mars from the MER Moessbauer Spectrometers

The twin Mars Exploration Rovers Spirit (Gusev crater) and Opportunity (Meridiani Planum) used MIMOS II Moessbauer spectrometers to analyze martian surface materials in the first application of extraterrestrial Moessbauer spectroscopy. The instruments acquired spectra that identified the speciation of Fe according to oxidation state, coordination state, and mineralogical composition and provided quantitative information about the distribution of Fe among oxidation states, coordination states, and Fe-bearing phases. A total of 12 unique Fe-bearing phases were identified: Fe(2+) in olivine, pyroxene, and ilmenite; Fe(2+) and Fe(3+) in magnetite and chromite; Fe(3+) in nanophase ferric oxide (npOx), hematite, goethite, jarosite, an unassigned Fe3+ sulfate, and an unassigned Fe(3+) phase associated with jarosite; and Fe(0) in kamacite. Weakly altered basalts at Gusev crater (SO3 = 2.5 +/- 1.4 wt.% and Fe(3+)/Fe(sub T) = 0.24 +/- 0.11) are widespread on the Gusev plains and occur in less abundance on West Spur and Husband Hill in the Columbia Hills. Altered low-S rocks (SO3 = 5.2 +/- 2.0 wt.% and Fe(3+)/Fe(sub T) = 0.63 +/- 0.18) are the most common type of rock in the Columbia Hills. Ilm-bearing, weakly altered basalts were detected only in the Columbia Hills, as was the only occurrence of chromite in an altered low-S rock named Assemblee. Altered high-S rocks (SO3 > 14.2 wt.% and Fe(3+)/Fe(sub T) = 0.83 +/- 0.05) are the outcrop rocks of the ubiquitous Burns formation at Meridiani Planum. Two Fe(0)-bearing rocks at Meridiani Planum (Barberton and Heat Shield Rock) are meteorites. Laguna Class soil is weakly altered (SO3 = 6 +/- 2 wt.% and Fe(3+)/Fe(sub T) = 0.29 +/- 0.08) and widely distributed at both Gusev crater and Meridiani Planum, implying efficient global mixing processes or a global distribution of precursor rocks with comparable Fe mineralogical compositions. Paso Robles Class soil is heavily altered (SO3 approx. 31 wt.% and Fe(3+)/Fe(sub T) = 0.83 +/- 0.05), is relatively uncommon, and occurs as subsurface deposits in the Columbia Hills. Berry Class soil is also heavily altered (SO3 = 5 +/- 1 wt.% and Fe(3+)/Fe(sub T) = 0.60 +/- 0.13) and occurs at Meridiani Planum as lag deposits, at the crests of aeolian bedforms, and as isolated pockets on outcrop surfaces. Magnetite is identified as the strongly magnetic component in martian soil. Jarosite (in the Burns outcrop at Meridiani Planum) and goethite (in Clovis Class rocks at Gusev crater) are mineralogical markers for aqueous processes because they contain the hydroxide anion (OH(-)) as an essential part of their structure. Each yields approx.10 wt.% H2O upon dehydroxylation. The presence of Fe sulfates on opposite sides of Mars is evidence that aqueous processes under acid sulfate conditions are or were common. Except for Independence Class rocks in the Columbia Hills, the overall Fe mineralogical compositions and similar basaltic bulk chemical compositions (calculated with respect to S = Cl = 0) of the population of altered rocks analyzed by MER imply isochemical alteration of basaltic precursors at low water-to-rock ratios.

Morris, Richard V.↗
NASA NTRS2005

The Mars Exploration Rover (MER) Transverse Impulse Rocket System (TIRS)

In a very short period of time the MER project successfully developed and tested a system, TIRS/DIMES, to improve the probability of success in the presence of large Martian winds. The successful development of TIRS/DIMES played a big role in the landing site selection process by enabling the landing of Spirit on Gusev crater, a site of very high scientific interest but with known high wind conditions. The performance of TIRS by Spirit at Gusev Crater was excellent. The velocity prediction error was small and Big TIRS was fired reducing the impact horizontal velocity from approximately 23 meters per second to approximately 11 meters per second, well within the airbag capabilities. The performance of TIRS by Opportunity at Meridiani was good. The velocity prediction error was rather large (approximately 6 meters per second, a less than 2 sigma value, but TIRS did not fire which was the correct action.

Transverse Impulse Rocket System (TIRS)↗
NASA NTRS2008

Results from Automated Cloud and Dust Devil Detection Onboard the MER

We describe a new capability to automatically detect dust devils and clouds in imagery onboard rovers, enabling downlink of just the images with the targets or only portions of the images containing the targets. Previously, the MER rovers conducted campaigns to image dust devils and clouds by commanding a set of images be collected at fixed times and downloading the entire image set. By increasing the efficiency of the campaigns, more campaigns can be executed. Software for these new capabilities was developed, tested, integrated, uploaded, and operationally checked out on both rovers as part of the R9.2 software upgrade. In April 2007 on Sol 1147 a dust devil was automatically detected onboard the Spirit rover for the first time. We discuss the operational usage of the capability and present initial dust devil results showing how this preliminary application has demonstrated the feasibility and potential benefits of the approach.

dust devils↗
NASA NTRS2011

Redefining Tactical Operations for MER Using Cloud Computing

The Mars Exploration Rover Mission (MER) includes the twin rovers, Spirit and Opportunity, which have been performing geological research and surface exploration since early 2004. The rovers' durability well beyond their original prime mission (90 sols or Martian days) has allowed them to be a valuable platform for scientific research for well over 2000 sols, but as a by-product it has produced new challenges in providing efficient and cost-effective tactical operational planning. An early stage process adaptation was the move to distributed operations as mission scientists returned to their places of work in the summer of 2004, but they would still came together via teleconference and connected software to plan rover activities a few times a week. This distributed model has worked well since, but it requires the purchase, operation, and maintenance of a dedicated infrastructure at the Jet Propulsion Laboratory. This server infrastructure is costly to operate and the periodic nature of its usage (typically heavy usage for 8 hours every 2 days) has made moving to a cloud based tactical infrastructure an extremely tempting proposition. In this paper we will review both past and current implementations of the tactical planning application focusing on remote plan saving and discuss the unique challenges present with long-latency, distributed operations. We then detail the motivations behind our move to cloud based computing services and as well as our system design and implementation. We will discuss security and reliability concerns and how they were addressed

Mars↗
NASA NTRS2012

Leveraging Cloud Computing to Improve Storage Durability, Availability, and Cost for MER Maestro

The Maestro for MER (Mars Exploration Rover) software is the premiere operation and activity planning software for the Mars rovers, and it is required to deliver all of the processed image products to scientists on demand. These data span multiple storage arrays sized at 2 TB, and a backup scheme ensures data is not lost. In a catastrophe, these data would currently recover at 20 GB/hour, taking several days for a restoration. A seamless solution provides access to highly durable, highly available, scalable, and cost-effective storage capabilities. This approach also employs a novel technique that enables storage of the majority of data on the cloud and some data locally. This feature is used to store the most recent data locally in order to guarantee utmost reliability in case of an outage or disconnect from the Internet. This also obviates any changes to the software that generates the most recent data set as it still has the same interface to the file system as it did before updates

Chang, George W.↗
NASA NTRS2013

The Amorphous Component in Martian Basaltic Soil in Global Perspective from MSL and MER Missions

The mineralogy instrument CheMin onboard the MSL rover Curiosity analyzed by transmission XRD [1] the <150 microns size fraction of putative global basaltic martian soil from scoops 4 and 5 of the Rocknest aeolian bedform (sol 81-120). Here, we combine chemical (APXS) and mineralogical (Mossbauer; MB) results from the MER rovers with chemical (APXS) and mineralogical (CheMin) results from Curiosity to constrain the relative proportions of amorphous and crystalline components, the bulk chemical composition of those components, and the

Morris, R. V.↗