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We present preliminary results in the development of a miniaturized gas correlation radiometer (GCR) for column trace gas measurements in the Martian atmosphere. The GCR is designed as an orbiting instrument capable of mapping multiple trace gases and identifying active regions on the Mars surface.
Gas correlation radiometry (GCR) has been shown to be a sensitive and versatile method for detecting trace gases in Earth's atmosphere. Here, we present a miniaturized and simplified version of this instrument capable of mapping multiple trace gases and identifying active regions on the Mars surface. Reduction of the size and mass of the GCR instrument has been achieved by implementing a lightweight, 1 mm inner diameter hollow-core optical fiber (hollow waveguide) for the gas correlation cell. Based on a comparison with an Earth orbiting CO2 gas correlation instrument, replacement of the 10 meter mUltipass cell with hollow waveguide of equivalent pathlength reduces the cell mass from approx 150 kg to approx 0.5 kg, and reduces the volume from 1.9 m x 1.3 m x 0.86 m to a small bundle of fiber coils approximately I meter in diameter by 0.05 m in height (mass and volume reductions of >99%). This modular instrument technique can be expanded to include measurements of additional species of interest including nitrous oxide (N2O), hydrogen sulfide (H2S), methanol (CH3OH), and sulfur dioxide (SO2), as well as carbon dioxide (CO2) for a simultaneous measure of mass balance.
We present a miniaturized and simplified version of a gas correlation radiometer (GCR) capable of simultaneously mapping multiple trace gases and identifying active regions on the Mars surface. Gas correlation radiometry (GCR) has been shown to be a sensitive and versatile method for detecting trace gases in Earth's atmosphere. Reduction of the size and mass of the GCR was achieved by implementing compact, light-weight 1 mm inner diameter hollow-core optical fibers (hollow waveguides) as the gas correlation cells. In a comparison with an Earth orbiting CO2 GCR instrument, exchanging the 10 m multipass cells with hollow waveguide gas correlation cells of equivalent path length reduces the mass from approximately 150 kg to approximately 0.5 kg, and reduces the volume from 1.9 m x 1.3 m x 0.86 m to a small bundle of fiber coils approximately 1 meter in diameter by 0.05 m in height (mass and volume reductions of greater than 99%). A unique feature of this instrument is its stackable module design, with a single module for each trace gas. Each of the modules is self-contained, and fundamentally identical; differing by the bandpass filter wavelength range and gas mixtures inside the hollow-waveguide absorption cells. The current configuration contains four stacked modules for simultaneous measurements of methane (CH4), formaldehyde (H2CO), water vapor (H2O), and deuterated water vapor (HDO) but could easily be expanded to include measurements of additional species of interest including nitrous oxide (N2O), hydrogen sulfide (H2S), methanol (CH3OH), and sulfur dioxide (SO2), as well as carbon dioxide (CO2) for a simultaneous measure of mass balance. Preliminary results indicate that a 1 ppb detection limit is possible for both formaldehyde and methane with one second of averaging. Using non-optimized components, we have demonstrated an instrument sensitivity equivalent to approximately 30 ppb for formaldehyde, and approximately 500 ppb for methane. We expect custom bandpass filters and 6 m long waveguides to significantly improve these promising results. Ongoing testing is being conducted on water vapor and deuterated water vapor.
As NASA supports International Space Station assembly complete operations through 2020 (or later) and prepares for future human exploration programs, there is additional emphasis in the manned spaceflight program to find more efficient and effective ways of providing the ground-based mission support. Since 2006 this search for improvement has led to a significant cross-fertilization between the NASA advanced software development community and the manned spaceflight operations community. A variety of mission operations systems and tools have been developed over the past decades as NASA has operated the Mars robotic missions, the Space Shuttle, and the International Space Station. NASA Ames Research Center has been developing and applying its advanced intelligent systems research to mission operations tools for both unmanned Mars missions operations since 2001 and to manned operations with NASA Johnson Space Center since 2006. In particular, the fundamental advanced software development work under the Exploration Technology Program, and the experience and capabilities developed for mission operations systems for the Mars surface missions, (Spirit/Opportunity, Phoenix Lander, and MSL) have enhanced the development and application of advanced mission operation systems for the International Space Station and future spacecraft. This paper provides an update on the status of the development and deployment of a variety of intelligent systems technologies adopted for manned mission operations, and some discussion of the planned work for Autonomous Mission Operations in future human exploration. We discuss several specific projects between the Ames Research Center and the Johnson Space Centers Mission Operations Directorate, and how these technologies and projects are enhancing the mission operations support for the International Space Station, and supporting the current Autonomous Mission Operations Project for the mission operation support of the future human exploration programs.
Qualification of motors for deep space under extreme thermal environments to be encountered during the Mars Science Laboratory (MSL) mission is required to verify the reliability and validate mission assurance requirements. The motor assembly must survive all ground operations, plus the nominal 670 Martian-day (or sol) mission that includes summer and winter seasons of the Mars environment. The motor assembly was tested and characterized under extreme temperature conditions with reference to hardware requirements. The motor assembly has been proved to be remarkably robust and displayed no sign of degradation due to the 3 X (three times per JPL design principles) thermal environmental exposure to the punishing Mars surface operations cycles. The motor characteristics obtained before, during, and post-test comparisons for the surface operations cycles are within measurement error of one another. The motors withstood/survived 2,010 extreme temperature cycles with a Delta T of 190 C deep temperature cycles, representing three times the expected thermal cycling exposure during the MSL surface operations. The qualification test hardware elements (A200 motor assembly, encoders, and resolver) have not shown any signs of degradation due to the PQV (Package Qualification and Verification) testing. The test hardware has demonstrated sufficient life to survive the deep thermal cycles associated with MSL mission surface operations for three lives.
On-Orbit Constraints Test (OOCT's) refers to mating flight hardware together on the ground before they will be mated on-orbit. The concept seems simple but it can be difficult to perform operations like this on the ground when the flight hardware is being designed to be mated on-orbit in a zero-g and/or vacuum environment of space. Also some of the items are manufactured years apart so how are mating tasks performed on these components if one piece is on-orbit before its mating piece is planned to be built. Both the Internal Vehicular Activity (IVA) and Extra-Vehicular Activity (EVA) OOCT's performed at Kennedy Space Center will be presented in this paper. Details include how OOCT's should mimic on-orbit operational scenarios, a series of photographs will be shown that were taken during OOCT's performed on International Space Station (ISS) flight elements, lessons learned as a result of the OOCT's will be presented and the paper will conclude with possible applications to Moon and Mars Surface operations planned for the Constellation Program.
Topics include: Multi-Source Autonomous Response for Targeting and Monitoring of Volcanic Activity; Software Suite to Support In-Flight Characterization of Remote Sensing Systems; Visual Image Sensor Organ Replacement; Ultra-Wideband, Dual-Polarized, Beam-Steering P-Band Array Antenna; Centering a DDR Strobe in the Middle of a Data Packet; Using a Commercial Ethernet PHY Device in a Radiation Environment; Submerged AUV Charging Station; Habitat Demonstration Unit (HDU) Vertical Cylinder Habitat; Origami-Inspired Folding of Thick, Rigid Panels; A Novel Protocol for Decoating and Permeabilizing Bacterial Spores for Epifluorescent Microscopy; Method and Apparatus for Automated Isolation of Nucleic Acids from Small Cell Samples; Enabling Microliquid Chromatography by Microbead Packing of Microchannels; On-Command Force and Torque Impeding Devices (OC-FTID) Using ERF; Deployable Fresnel Rings; Transition-Edge Hot-Electron Microbolometers for Millimeter and Submillimeter Astrophysics; Spacecraft Trajectory Analysis and Mission Planning Simulation (STAMPS) Software; Cross Support Transfer Service (CSTS) Framework Library; Arbitrary Shape Deformation in CFD Design; Range Safety Flight Elevation Limit Calculation Software; Frequency-Modulated, Continuous-Wave Laser Ranging Using Photon-Counting Detectors; Calculation of Operations Efficiency Factors for Mars Surface Missions; GPU Lossless Hyperspectral Data Compression System; Robust, Optimal Subsonic Airfoil Shapes; Protograph-Based Raptor-Like Codes; Fuzzy Neuron: Method and Hardware Realization; Kalman Filter Input Processor for Boresight Calibration; Organizing Compression of Hyperspectral Imagery to Allow Efficient Parallel Decompression; and Temperature Dependences of Mechanisms Responsible for the Water-Vapor Continuum Absorption.
Rockster-MER is an autonomous perception capability that was uploaded to the Mars Exploration Rover Opportunity in December 2009. This software provides the vision front end for a larger software system known as AEGIS (Autonomous Exploration for Gathering Increased Science), which was recently named 2011 NASA Software of the Year. As the first step in AEGIS, Rockster-MER analyzes an image captured by the rover, and detects and automatically identifies the boundary contours of rocks and regions of outcrop present in the scene. This initial segmentation step reduces the data volume from millions of pixels into hundreds (or fewer) of rock contours. Subsequent stages of AEGIS then prioritize the best rocks according to scientist- defined preferences and take high-resolution, follow-up observations. Rockster-MER has performed robustly from the outset on the Mars surface under challenging conditions. Rockster-MER is a specially adapted, embedded version of the original Rockster algorithm ("Rock Segmentation Through Edge Regrouping," (NPO- 44417) Software Tech Briefs, September 2008, p. 25). Although the new version performs the same basic task as the original code, the software has been (1) significantly upgraded to overcome the severe onboard re source limitations (CPU, memory, power, time) and (2) "bulletproofed" through code reviews and extensive testing and profiling to avoid the occurrence of faults. Because of the limited computational power of the RAD6000 flight processor on Opportunity (roughly two orders of magnitude slower than a modern workstation), the algorithm was heavily tuned to improve its speed. Several functional elements of the original algorithm were removed as a result of an extensive cost/benefit analysis conducted on a large set of archived rover images. The algorithm was also required to operate below a stringent 4MB high-water memory ceiling; hence, numerous tricks and strategies were introduced to reduce the memory footprint. Local filtering operations were re-coded to operate on horizontal data stripes across the image. Data types were reduced to smaller sizes where possible. Binary- valued intermediate results were squeezed into a more compact, one-bit-per-pixel representation through bit packing and bit manipulation macros. An estimated 16-fold reduction in memory footprint relative to the original Rockster algorithm was achieved. The resulting memory footprint is less than four times the base image size. Also, memory allocation calls were modified to draw from a static pool and consolidated to reduce memory management overhead and fragmentation. Rockster-MER has now been run onboard Opportunity numerous times as part of AEGIS with exceptional performance. Sample results are available on the AEGIS website at http://aegis.jpl.nasa.gov.
A combined Nuclear Thermal Rocket (NTR) flight test and Mars Sample Return mission (MSR) is explored as a means of "jump-starting" NTR development. Development of a small-scale engine with relevant fuel and performance could more affordably and quickly "pathfind" the way to larger scale engines. A flight test with subsequent inflight postirradiation evaluation may also be more affordable and expedient compared to ground testing and associated facilities and approvals. Mission trades and a reference scenario based upon a single expendable launch vehicle (ELV) are discussed. A novel "single stack" spacecraft/lander/ascent vehicle concept is described configured around a "top-mounted" downward firing NTR, reusable common tank, and "bottom-mount" bus, payload and landing gear. Requirements for a hypothetical NTR engine are described that would be capable of direct thermal propulsion with either hydrogen or methane propellant, and modest electrical power generation during cruise and Mars surface insitu resource utilization (ISRU) propellant production.
To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover (MER) project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting tool, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction Simulator), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using MSC-Adams dynamic modeling software. Newly modeled terrain-rover interactions include the rut-formation effect of deformable soils, using the classical Bekker-Wong implementation of compaction resistances and bull-dozing effects. The paper presents the details and implementation of the model with two case studies based on actual MER telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.
One of the most pressing current questions in space science is whether life has ever arisen anywhere else in the universe. Water is a critical prerequisite for all life-as-we-know-it, thus the possible exploration targets for extraterrestrial life are bodies that have or had copious liquid: Mars, Europa, and Enceladus. Due to the oxidizing nature of Mars' surface, as well as subsurface liquid water reservoirs present on Europa and Enceladus, the search for evidence of existing life must likely focus on subsurface locations, at depths sufficient to support liquid water or retain biologic signatures. To address these questions, an Auto-Gopher sampler has been developed that is a wireline type drill. This drill is suspended on a tether and its motors and mechanisms are built into a tube that ends with a coring bit. The tether provides the mechanical connection to a rover/lander on a surface as well as power and data communication. Upon penetrating to a target depth, the drill is retracted from the borehole, the core is deposited into a sample transfer system, and the drill is lowered back into the hole. Wireline operation sidesteps one of the major drawbacks of traditional continuous drill string systems by obviating the need for multiple drill sections, which add significantly to the mass and the complexity of the system (i.e. penetration rate was 40 cm per hour). Drilling to 2 meter depth and recovering of cores every 10 cm took a total time of 15 hours (a single step of drilling 10 cm and retrieving the core was 45 minutes). Total energy to reach the 2 m depth was 500 Whr. The Weight on Bit was limited to less than 70 Newton. The core recovery was 100%.
Modern Mars surface missions rely upon orbiting spacecraft to relay communications to and from Earth systems. An important component of this multi-mission relay process is the collection of relay performance statistics supporting strategic trend analysis and tactical anomaly identification and tracking.
A Mars Aerospace Taxi (MAST) concept and propellant storage and delivery case study is undergoing investigation by NASA's Element Design and Architectural Impact (EDAI) design and analysis forum. The MAST lander concept envisions landing with its ascent propellant storage tanks empty and supplying these reusable Mars landers with propellant that is generated and transferred while on the Mars surface. The report provides an overview of the data derived from modeling between different methods of propellant line routing (or "lining") and differentiate the resulting design and operations complexity of fluid and gaseous paths based on a given set of fluid sources and destinations. The EDAI team desires a rough-order-magnitude algorithm for estimating the lining characteristics (i.e., the plumbing mass and complexity) associated different numbers of vehicle propellant sources and destinations. This paper explored the feasibility of preparing a mathematically sound algorithm for this purpose, and offers a method for the EDAI team to implement.
Mars flyby trajectories and Earth return trajectories have the potential to enable lower- cost and sustainable human exploration of Mars. Flyby and return trajectories are true minimum energy paths with low to zero post-Earth departure maneuvers. By emplacing the large crew vehicles required for human transit on these paths, the total fuel cost can be reduced. The traditional full-up repeating Earth-Mars-Earth cycler concept requires significant infrastructure, but a Mars only flyby approach minimizes mission mass and maximizes opportunities to build-up missions in a stepwise manner. In this paper multiple strategies for sending a crew of 4 to Mars orbit and back are examined. With pre-emplaced assets in Mars orbit, a transit habitat and a minimally functional Mars taxi, a complete Mars mission can be accomplished in 3 SLS launches and 2 Mars Flyby's, including Orion. While some years are better than others, ample opportunities exist within a given 15-year Earth-Mars alignment cycle. Building up a mission cadence over time, this approach can translate to Mars surface access. Risk reduction, which is always a concern for human missions, is mitigated by the use of flybys with Earth return (some of which are true free returns) capability.
NASA Johnson Space Center's Z-series of planetary space suit prototypes is an iterative development platform with a Mars-forward design philosophy, targeting a Mars surface mission in the mid-2030s. The first space suit assembly, called the Z-1, was delivered in 2012. While meeting the project's stated requirements and objectives, the general public's reception primarily focused on the color scheme, which vaguely invoked similarity to a certain animated cartoon character. The public at large has and continues to be exposed to varying space suit design aesthetics from popular culture and low TRL technology maturation efforts such as mechanical counter-pressure. The lesson learned was that while the design aesthetic is not important from an engineering perspective, the perception of the public is important for NASA and human spaceflight in general. For the Z-2 space suit, an integrated public outreach strategy was employed to engage, excite and educate the public on the current technology of space suits and NASA's plans moving forward. The keystone of this strategy was a public vote on three different suit cover layer aesthetics, the winner of which would be used as inspiration in fabrication. Other components included social media, university collaboration, and select media appearances, the cumulative result of which, while intangible in its benefit, was ultimately a positive effect in terms of the image of NASA as well as the dissemination of information vital to dispelling public misconceptions.
NASA Johnson Space Center's Z-series of planetary space suit prototypes is an iterative development platform with a Mars-forward design philosophy, targeting a Mars surface mission in the mid-2030s. The first space suit assembly, called the Z-1, was delivered in 2012. While meeting the project's stated requirements and objectives, the general public's reception primarily focused on the color scheme, which vaguely invoked similarity to a certain animated cartoon character. The public at large has and continues to be exposed to varying space suit design aesthetics from popular culture and low TRL technology maturation efforts such as mechanical counterpressure. The lesson learned was that while the design aesthetic is not important from an engineering perspective, the perception of the public is important for NASA and human spaceflight in general. For the Z-2 space suit, an integrated public outreach strategy was employed to engage, excite and educate the public on the current technology of space suits and NASA's plans moving forward. The keystone of this strategy was a public vote on three different suit cover layer aesthetics, the winner of which would be used as inspiration in fabrication. Other components included social media, university collaboration, and select media appearances, the cumulative result of which, while intangible in its benefit, was ultimately a positive effect in terms of the image of NASA as well as the dissemination of information vital to dispelling public misconceptions.
Future NASA missions will focus on deep space and Mars surface operations with large structures necessary for transportation of crew and cargo. In addition to the challenges of manufacturing these large structures, there are added challenges from the space radiation environment and its impacts on the crew, electronics, and vehicle materials. Primary radiation from the sun (solar particle events) and from outside the solar system (galactic cosmic rays) interact with materials of the vehicle and the elements inside the vehicle. These interactions lead to the primary radiation being absorbed or producing secondary radiation (primarily neutrons). With all vehicles, the high-energy primary radiation is of most concern. However, with larger vehicles, there is more opportunity for secondary radiation production, which can be significant enough to cause concern. In a previous paper, we embarked upon our first steps toward studying neutron production from large vehicles by validating our radiation transport codes for neutron environments against flight data. The following paper will extend the previous work to focus on the deep space environment and the resulting neutron flux from large vehicles in this deep space environment.
Measurements of elemental chemistry are fundamental for exploring geology Almost every mars surface mission has had this capability But previous instruments have not been able to accurately correlate chemistry with texture.