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NASA NTRS2005

Using Near Real-Time Mission Data for Education and Public Outreach: Strategies from the Life in the Atacama E/PO Effort

The EventScope educational telepresence project has been involved with education and public outreach for a number of NASA-sponsored missions including the Mars Exploration Rovers, the Odyssey Mission, and the Life in the Atacama project. However, during the second year of operations in the Atacama, a modified version of the EventScope public interface was used as the remote science operations interface. In addition, the EventScope lab hosted remote science operations. This intimate connection with the mission operations allowed the EventScope team to bring the experience of the mission to the public in near real-time. Playing to this strength, the lab developed strategies for releasing E/PO content as close to real-time as possible.

Myers, E.↗

NASA NTRS2009

Software Tools Streamline Project Management

Three innovative software inventions from Ames Research Center (NETMARK, Program Management Tool, and Query-Based Document Management) are finding their way into NASA missions as well as industry applications. The first, NETMARK, is a program that enables integrated searching of data stored in a variety of databases and documents, meaning that users no longer have to look in several places for related information. NETMARK allows users to search and query information across all of these sources in one step. This cross-cutting capability in information analysis has exponentially reduced the amount of time needed to mine data from days or weeks to mere seconds. NETMARK has been used widely throughout NASA, enabling this automatic integration of information across many documents and databases. NASA projects that use NETMARK include the internal reporting system and project performance dashboard, Erasmus, NASA s enterprise management tool, which enhances organizational collaboration and information sharing through document routing and review; the Integrated Financial Management Program; International Space Station Knowledge Management; Mishap and Anomaly Information Reporting System; and management of the Mars Exploration Rovers. Approximately $1 billion worth of NASA s projects are currently managed using Program Management Tool (PMT), which is based on NETMARK. PMT is a comprehensive, Web-enabled application tool used to assist program and project managers within NASA enterprises in monitoring, disseminating, and tracking the progress of program and project milestones and other relevant resources. The PMT consists of an integrated knowledge repository built upon advanced enterprise-wide database integration techniques and the latest Web-enabled technologies. The current system is in a pilot operational mode allowing users to automatically manage, track, define, update, and view customizable milestone objectives and goals. The third software invention, Query-Based Document Management (QBDM) is a tool that enables content or context searches, either simple or hierarchical, across a variety of databases. The system enables users to specify notification subscriptions where they associate "contexts of interest" and "events of interest" to one or more documents or collection(s) of documents. Based on these subscriptions, users receive notification when the events of interest occur within the contexts of interest for associated document or collection(s) of documents. Users can also associate at least one notification time as part of the notification subscription, with at least one option for the time period of notifications.

Source record↗

NASA NTRS2010

Reliability and Qualification of Hardware to Enhance the Mission Assurance of JPL/NASA Projects

Packaging Qualification and Verification (PQV) and life testing of advanced electronic packaging, mechanical assemblies (motors/actuators), and interconnect technologies (flip-chip), platinum temperature thermometer attachment processes, and various other types of hardware for Mars Exploration Rover (MER)/Mars Science Laboratory (MSL), and JUNO flight projects was performed to enhance the mission assurance. The qualification of hardware under extreme cold to hot temperatures was performed with reference to various project requirements. The flight like packages, assemblies, test coupons, and subassemblies were selected for the study to survive three times the total number of expected temperature cycles resulting from all environmental and operational exposures occurring over the life of the flight hardware including all relevant manufacturing, ground operations, and mission phases. Qualification/life testing was performed by subjecting flight-like qualification hardware to the environmental temperature extremes and assessing any structural failures, mechanical failures or degradation in electrical performance due to either overstress or thermal cycle fatigue. Experimental flight qualification test results will be described in this presentation.

PRTs↗

NASA NTRS2005

Exploration Rover Concepts and Development Challenges

This paper presents an overview of exploration rover concepts and the various development challenges associated with each as they are applied to exploration objectives and requirements for missions on the Moon and Mars. A variety of concepts for surface exploration vehicles have been proposed since the initial development of the Apollo-era lunar rover. This paper provides a brief description of the rover concepts, along with a comparison of their relative benefits and limitations. In addition, this paper outlines, and investigates a number of critical development challenges that surface exploration vehicles must address in order to successfully meet the exploration mission vision. These include: mission and environmental challenges, design challenges, and production and delivery challenges. Mission and environmental challenges include effects of terrain, extreme temperature differentials, dust issues, and radiation protection. Design methods are discussed that focus on optimum methods for developing highly reliable, long-life and efficient systems. In addition, challenges associated with delivering a surface exploration system is explored and discussed. Based on all the information presented, modularity will be the single most important factor in the development of a truly viable surface mobility vehicle. To meet mission, reliability, and affordability requirements, surface exploration vehicles, especially pressurized rovers, will need to be modularly designed and deployed across all projected Moon and Mars exploration missions.

Zakrajsek, James J.↗

NASA NTRS2006

A Strategy to Integrate Probabilistic Risk Assessment into Design and Development Processes for Aerospace Based pon Mars Exploration Rover Experiences

This paper will discuss the Probabilistic Risk Assessment (PRA) effort and its involvement with related activities during the development of the Mars Exploration Rover (MER). The Rovers were launched 2003.June.10 (Spirit) and 2003.July.7 (Opportunity), and both have proven very successful. Although designed for a 90-day mission, the Rovers have been operating for over two earth years. This paper will review aspects of how the MER project integrated PRA into the design and development process. A companion paper (Development of the Mars Exploration Rover PRA) will describe the MER PRA and design changes from those results.

Probabilistic Risk Assessment (PRA)↗

NASA NTRS1988

Orbit/deorbit analysis for the Mars rover sample return mission

Four astrodynamic problems involved in a combined Mars rover and surface sample return mission projected for the early 1990s are explored. Two of the problems are associated with the satisfaction of the specific mission requirements at Mars, calling for the initial orbit entered into at Mars to be highly eccentric and to have a very low periapsis altitude (about 250 km). The problem of placing an areosynchronous communications satellite in orbit around Mars is then discussed. Finally, the problem of deorbiting to a specified landing site from a highly eccentric orbit is considered.

Penzo, Paul A.↗

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 NTRS1999

Results of the First Astronaut-Rover (ASRO) Field Experiment: Lessons and Directions for the Human Exploration of Mars

The first Astronaut-Rover Interaction field experiment (hereafter designated as the ASRO project) took place Feb. 22-27, 1999, in Silver Lake, Mojave Desert, CA. The ASRO project is the result of a joint project between NASA Ames Research Center and Johnson Space Center. In the perspective of the Human Exploration and Development of Space (HEDS) of the Solar System, this interaction - the astronaut and the rover as a complementary and interactive team - in the field is critical to assess but had never been tested before the Silver Lake experiment. Additional information is contained in the original extended abstract.

Cabrol, N. A.↗

NASA NTRS2017

Energy Management Operations for the InSight Solar-Powered Mission at Mars

This paper discusses how the change in launch date has changed the energy management challenges for InSight, and how the energy management approach for surface operations has been adapted to address those challenges. It also describes how energy balance and battery life are protected over the course of the InSight landed mission, in terms of a deliberate balance between autonomous on-board fault protection and ground commanding into reduced-load configurations that still make progress versus specific, prioritized mission success criteria. It describes the project’s unique statistical analysis and usage of Mars Exploration Rovers (MER) archived data on solar energy collection to develop and validate an explicit prelaunch margin policy versus energy reductions due to environment variability over multiple-sol sequences. And finally, the paper explains how this archived energy data has influenced the modification of the Phoenix-heritage autonomous fault protection, to guard against quickly-arising inclement power-generation conditions, such as rapid onset of a local dust storm or water ice cloud front.

Lisano II, MIchael E.↗

NASA NTRS2003

Designing Facilities for Collaborative Operations

A methodology for designing operational facilities for collaboration by multiple experts has begun to take shape as an outgrowth of a project to design such facilities for scientific operations of the planned 2003 Mars Exploration Rover (MER) mission. The methodology could also be applicable to the design of military "situation rooms" and other facilities for terrestrial missions. It was recognized in this project that modern mission operations depend heavily upon the collaborative use of computers. It was further recognized that tests have shown that layout of a facility exerts a dramatic effect on the efficiency and endurance of the operations staff. The facility designs (for example, see figure) and the methodology developed during the project reflect this recognition. One element of the methodology is a metric, called effective capacity, that was created for use in evaluating proposed MER operational facilities and may also be useful for evaluating other collaboration spaces, including meeting rooms and military situation rooms. The effective capacity of a facility is defined as the number of people in the facility who can be meaningfully engaged in its operations. A person is considered to be meaningfully engaged if the person can (1) see, hear, and communicate with everyone else present; (2) see the material under discussion (typically data on a piece of paper, computer monitor, or projection screen); and (3) provide input to the product under development by the group. The effective capacity of a facility is less than the number of people that can physically fit in the facility. For example, a typical office that contains a desktop computer has an effective capacity of .4, while a small conference room that contains a projection screen has an effective capacity of around 10. Little or no benefit would be derived from allowing the number of persons in an operational facility to exceed its effective capacity: At best, the operations staff would be underutilized; at worst, operational performance would deteriorate. Elements of this methodology were applied to the design of three operations facilities for a series of rover field tests. These tests were observed by human-factors researchers and their conclusions are being used to refine and extend the methodology to be used in the final design of the MER operations facility. Further work is underway to evaluate the use of personal digital assistant (PDA) units as portable input interfaces and communication devices in future mission operations facilities. A PDA equipped for wireless communication and Ethernet, Bluetooth, or another networking technology would cost less than a complete computer system, and would enable a collaborator to communicate electronically with computers and with other collaborators while moving freely within the virtual environment created by a shared immersive graphical display.

Norris, Jeffrey↗

NASA NTRS2012

Qualification of Engineering Camera for Long-Duration Deep Space Missions

Qualification and verification of advanced electronic packaging and interconnect technologies, and various other types of hardware elements for the Mars Exploration Rover s Spirit and Opportunity (MER)/Mars Science Laboratory (MSL) flight projects, has been performed to enhance the mission assurance. The qualification of hardware (engineering camera) under extreme cold temperatures has been performed with reference to various Mars-related project requirements. The flight-like packages, sensors, and subassemblies have been selected for the study to survive three times the total number of expected diurnal temperature cycles resulting from all environmental and operational exposures occurring over the life of the flight hardware, including all relevant manufacturing, ground operations, and mission phases. Qualification has been performed by subjecting above flight-like hardware to the environmental temperature extremes, and assessing any structural failures or degradation in electrical performance due to either overstress or thermal cycle fatigue. Engineering camera packaging designs, charge-coupled devices (CCDs), and temperature sensors were successfully qualified for MER and MSL per JPL design principles. Package failures were observed during qualification processes and the package redesigns were then made to enhance the reliability and subsequent mission assurance. These results show the technology certainly is promising for MSL, and especially for longterm extreme temperature missions to the extreme temperature conditions. The engineering camera has been completely qualified for the MSL project, with the proven ability to survive on Mars for 2010 sols, or 670 sols times three. Finally, the camera continued to be functional, even after 2010 thermal cycles.

Ramesham, Rajeshuni↗

NASA NTRS2006

XBoard: A Framework for Integrating and Enhancing Collaborative Work Practices

Teams typically collaborate in different modes including face-to-face meetings, meetings that are synchronous (i. e. require parties to participate at the same time) but distributed geographically, and meetings involving asynchronously working on common tasks at different times. The XBoard platform was designed to create an integrated environment for creating applications that enhance collaborative work practices. Specifically, it takes large, touch-screen enabled displays as the starting point for enhancing face-to-face meetings by providing common facilities such as whiteboarding/electronic flipcharts, laptop projection, web access, screen capture and content distribution. These capabilities are built upon by making these functions inherently distributed by allowing these sessions to be easily connected between two or more systems at different locations. Finally, an information repository is integrated into the functionality to provide facilities for work practices that involve work being done at different times, such as reports that span different shifts. The Board is designed to be extendible allowing customization of both the general functionality and by adding new functionality to the core facilities by means of a plugin architecture. This, in essence, makes it a collaborative framework for extending or integrating work practices for different mission scenarios. XBoard relies heavily on standards such as Web Services and SVG, and is built using predominately Java and well-known open-source products such as Apache and Postgres. Increasingly, organizations are geographically dispersed, and rely on "virtual teams" that are assembled from a pool of various partner organizations. These organizations often have different infrastructures of applications and workflows. The XBoard has been designed to be a good partner in these situations, providing the flexibility to integrate with typical legacy applications while providing a standards-based infrastructure that is readily accepted by most organizations. The XBoard has been used on the Mars Exploration Rovers mission at JPL, and is currently being used or considered for use in pilot projects at Johnson Space Center (JSC) Mission Control, the University of Arizona Lunar and Planetav Laboratory (Phoenix Mars Lander), and MBART (Monterey Bay Aquarium Research Institute).

Shab, Ted↗

NASA NTRS2005

MER : from landing to six wheels on Mars ... twice

Application of the Pathfinder landing system design to enclose the much larger Mars Exploration Rover required a variety of Rover deployments to achieve the surface driving configuration. The project schedule demanded that software design, engineering model test, and flight hardware build to be accomplished in parallel. This challenge was met through (a) bounding unknown environments against which to design and test, (b) early mechanical prototype testing, (c) constraining the scope of on-board autonomy to survival-critical deployments, (d) executing a balance of nominal and off-nominal test cases, (e) developing off-nominal event mitigation techniques before landing, (f) flexible replanning in response to surprises during operations. Here is discussed several specific events encountered during initial MER surface operations.

Mars Exploration Rover (MER)↗

NASA NTRS1977

The future impact of computation on planetary exploration

Informed speculations are advanced on plausible candidates for space exploration missions in decades ahead; while none are approved NASA projects, they are deemed accessible to current technology. A Venus radar mapper, a minirover system (several rovers) for Mars surface exploration (geology, areochemistry, meteorology, detection of biota), investigation of Halley's comet (1986 apparition) with the aid of a solar sail vehicle, flybys of Jovian (Galilean) satellites and a landing on Ganymede, and a soft landing on the Saturnian large satellite Titan for examination of its atmosphere and surface are sketched. Anticipated data rates, software, mission reliability, and spacecraft autonomy are discussed, along with anticipated improvements in information transmission hardware and software, and some conjectures beyond the turn of the century.

Whitney, W. M.↗

NASA NTRS2003

Geology of Potential Landing Sites for Martian Sample Returns

This project involved the analysis of potential landing sites on Mars. As originally proposed, the project focused on landing sites from which samples might be returned to Earth. However, as the project proceeded, the emphasis shifted to missions that would not include sample return, because the Mars Exploration Program had deferred sample returns to the next decade. Subsequently, this project focused on the study of potential landing sites for the Mars Exploration Rovers.

Greeley, Ronald↗

NASA NTRS2013

Advanced Aerogel Technology

The JPL Aerogel Laboratory has made aerogels for NASA flight missions, e.g., Stardust, 2003 Mars Exploration Rovers and the 2011 Mars Science Laboratory, as well as NASA research projects for the past 14 years. During that time it has produced aerogels of a range of shapes, sizes, densities and compositions. Research is ongoing in the development of aerogels for future sample capture and return missions and for thermal insulation for both spacecraft and scientific instruments. For the past several years, the JPL Aerogel Laboratory has been developing, producing and testing a new composite material for use as the high temperature thermal insulation in the Advanced Sterling Radioisotope Generator (ASRG) being developed by Lockheed Martin and NASA. The composite is made up of a glass fiber felt, silica aerogel, Titania powder, and silica powder. The oxide powders are included to reduce irradiative heat transport at elevated temperatures. These materials have thermal conductivity values that are the same as the best commercially produced high temperature insulation materials, and yet are 40% lighter. By greatly reducing the amount of oxide powder in the composite, the density, and therefore for the value of the thermal conductivity, would be reduced. The JPL Aerogel Laboratory has experimented with using glass fiber felt, expanded glass fiber felt and loose fibers to add structural integrity to silica aerogels. However, this work has been directed toward high temperature applications. By conducting a brief investigation of the optimal combination of fiber reinforcement and aerogel density, a durable, extremely efficient thermal insulation material for ambient temperature applications would be produced. If a transparent thermal insulation is desired, then aerogel is an excellent candidate material. At typical ambient temperatures, silica aerogel prevents the transport of heat via convection and conduction due to its highly porous nature. To prevent irradiative thermal transport, silica aerogel can be used in conjunction with a transparent polymeric material that blocks infrared radiation. The transparency of silica aerogel is typically greater than 90% for visible wavelengths from 500 nm to 900 nm for a 5 mm long path length.

reduce irradiative heat transport↗

NASA NTRS2015

Neutron Spectrometer Prospecting During the Mojave Volatiles Project Analog Field Test

We know there are volatiles sequestered at the poles of the Moon. While we have evidence of water ice and a number of other compounds based on remote sensing, the detailed distribution, and physical and chemical form are largely unknown. Additional orbital studies of lunar polar volatiles may yield further insights, but the most important next step is to use landed assets to fully characterize the volatile composition and distribution at scales of tens to hundreds of meters. To achieve this range of scales, mobility is needed. Because of the proximity of the Moon, near real-time operation of the surface assets is possible, with an associated reduction in risk and cost. This concept of operations is very different from that of rovers on Mars, and new operational approaches are required to carry out such real-time robotic exploration. The Mojave Volatiles Project (MVP) is a Moon- Mars Analog Mission Activities (MMAMA) program effort aimed at (1) determining effective approaches to operating a real-time but short-duration lunar surface robotic mission, and (2) performing prospecting science in a natural setting, as a test of these approaches. We know there are volatiles sequestered at the poles of the Moon. While we have evidence of water ice and a number of other compounds based on remote sensing, the detailed distribution, and physical and chemical form are largely unknown. Additional orbital studies of lunar polar volatiles may yield further insights, but the most important next step is to use landed assets to fully characterize the volatile composition and distribution at scales of tens to hundreds of meters. To achieve this range of scales, mobility is needed. Because of the proximity of the Moon, near real-time operation of the surface assets is possible, with an associated reduction in risk and cost. This concept of operations is very different from that of rovers on Mars, and new operational approaches are required to carry out such robotic exploration. The Mojave Volatiles Project (MVP) is a Moon- Mars Analog Mission Activities (MMAMA) program effort aimed at (1) determining effective approaches to operating a real-time but short-duration lunar surface robotic mission, and (2) performing prospecting science in a natural setting, as a test of these approaches. Here we describe some results from the first such test, carried out in the Mojave Desert between 16 and 24 October, 2014. The test site was an alluvial fan just E of the Soda Mountains, SW of Baker, California. This site contains desert pavements, ranging from the late Pleistocene to early-Holocene in age. These pavements are undergoing dissection by the ongoing development of washes. A principal objective was to determine the hydration state of different types of desert pavement and bare ground features. The mobility element of the test was provided by the KREX-2 rover, designed and operated by the Intelligent Robotics Group at NASA Ames Research Center.

Moon- Mars Analog Mission Activities (MMAMA)↗

NASA NTRS1994

Autonomous navigation system for the Marsokhod rover project

This paper presents a general overview of the Marsokhod rover mission. The autonomous navigation for a Mars exploration rover is controlled by a vision system which has been developed on the basis of two CCD cameras, stereovision and path planning algorithms. Its performances have been tested on a Mars-like experimentation site.

Proy, C.↗