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Mars 2020 Model Based Systems Engineering Pilot

The pilot study is led by the Integration Engineering group in NASA's Launch Services Program (LSP). The Integration Engineering (IE) group is responsible for managing the interfaces between the spacecraft and launch vehicle. This pilot investigates the utility of Model-Based Systems Engineering (MBSE) with respect to managing and verifying interface requirements. The main objectives of the pilot are to model several key aspects of the Mars 2020 integrated operations and interface requirements based on the design and verification artifacts from Mars Science Laboratory (MSL) and to demonstrate how MBSE could be used by LSP to gain further insight on the interface between the spacecraft and launch vehicle as well as to enhance how LSP manages the launch service. The method used to accomplish this pilot started through familiarization of SysML, MagicDraw, and the Mars 2020 and MSL systems through books, tutorials, and NASA documentation. MSL was chosen as the focus of the model since its processes and verifications translate easily to the Mars 2020 mission. The study was further focused by modeling specialized systems and processes within MSL in order to demonstrate the utility of MBSE for the rest of the mission. The systems chosen were the In-Flight Disconnect (IFD) system and the Mass Properties process. The IFD was chosen as a system of focus since it is an interface between the spacecraft and launch vehicle which can demonstrate the usefulness of MBSE from a system perspective. The Mass Properties process was chosen as a process of focus since the verifications for mass properties occur throughout the lifecycle and can demonstrate the usefulness of MBSE from a multi-discipline perspective. Several iterations of both perspectives have been modeled and evaluated. While the pilot study will continue for another 2 weeks, pros and cons of using MBSE for LSP IE have been identified. A pro of using MBSE includes an integrated view of the disciplines, requirements, and verifications leading up to launch. The model allows IE to understand the relationships between disciplines throughout test activities and verifications. Additionally, the relationships between disciplines and integration tasks are generally consistent. The model allows for the generic relationships and tasks to be captured and used throughout multiple mission models should LSP further pursue MBSE. A con of MBSE is the amount of time it takes upfront to understand MBSE and create a useful model. The upfront time it takes to create a useful model is heavily discussed in MBSE literature and is a consistent con throughout the known applications of MBSE. The need to understand SysML and the software chosen also poses the possibility of a "bottleneck" or one person being the sole MBSE user for the working group. The utility of MBSE will continue to be evaluated through the remainder of the study. In conclusion, the original objectives of the pilot study were to use artifacts from MSL to model key aspects of Mars 2020 and demonstrate how MBSE could be used by LSP to gain insight into the spacecraft and launch vehicle interfaces. Progress has been made in modeling and identifying the utility of MBSE to LSP IE and will continue to be made until the pilot study's conclusion in mid-August. The results of this study will produce initial models, modeling instructions and examples, and a summary of MBSE's utility for future use by LSP.

Dukes, Alexandra Marie↗

Contamination Knowledge Strategy for the Mars 2020 Sample-Collecting Rover

The Mars 2020 rover will collect carefully selected samples of rock and regolith as it explores a potentially habitable ancient environment on Mars. Using the drill, rock cores and regolith will be collected directly into ultraclean sample tubes that are hermetically sealed and, later, deposited on the surface of Mars for potential return to Earth by a subsequent mission. Thorough characterization of any contamination of the samples at the time of their analysis will be essential for achieving the objectives of Mars returned sample science (RSS). We refer to this characterization as contamination knowledge (CK), which is distinct from contamination control (CC). CC is the set of activities that limits the input of contaminating species into a sample, and is specified by requirement thresholds. CK consists of identifying and characterizing both potential and realized contamination to better inform scientific investigations of the returned samples. Based on lessons learned by other sample return missions with contamination-sensitive scientific objectives, CC needs to be "owned" by engineering, but CK needs to be "owned" by science. Contamination present at the time of sample analysis will reflect the sum of contributions from all contamination vectors up to that point in time. For this reason, understanding the integrated history of contamination may be crucial for deciphering potentially confusing contaminant-sensitive observations. Thus, CK collected during the Mars sample return (MSR) campaign must cover the time period from the initiation of hardware construction through analysis of returned samples in labs on Earth. Because of the disciplinary breadth of the scientific objectives of MSR, CK must include a broad spectrum of contaminants covering inorganic (i.e., major, minor, and trace elements), organic, and biological molecules and materials.

Farley, K. A.↗

Thermal Development of the Mars 2020 Enhanced Engineering Cameras

The engineering cameras (ECAMs) of the 2003 Mars Exploration Rover (MER) mission were re-flown on the Mars Science Laboratory (MSL) mission that launched in 2011. The upcoming Mars 2020 rover mission will introduce a new fleet of cameras called the enhanced engineering cameras (EECAMs). These EECAMs will have improved imaging capability, as the technology of the past ECAMs flown on Mars surface missions have become outdated. The EECAMs include six upgraded HazCams, two upgraded NavCams, and a single, newly-conceived CacheCam. The purposes of the HazCams and NavCams remain the same as they were for MER and MSL: to detect hazards to the front and rear of the rover, and to help in navigation across the Martian surface. The CacheCam will be used to take images of samples obtained by the rover’s Sample Caching System. This paper compares the differences in the thermal designs of the ECAMs and EECAMs, their design drivers, and their implications for the mission operations of the Mars 2020 rover.

Novak, Keith S.↗

Assessment of the Mars 2020 Entry, Descent, and Landing Simulation

On February 18, 2021, the Mars 2020 Perseverance rover successfully landed inside Jezero Crater at 18.44463 deg North latitude and 77.45088 deg East longitude. At 1026 kg, Perseverance is the largest, most sophisticated rover ever delivered to another planet. This event marked the ninth successful landing and fifth rover to be delivered at Mars. The Program to Optimize Simulated Trajectories II (POST2) is a trajectory simulation tool maintained by the NASA Langley Research Center. POST2 was the prime EDL performance simulation for Mars 2020. This tool has significant heritage on the previous Pathfinder, MER, Phoenix, InSight, and MSL landings. This paper presents a few initial comparisons between EDL flight telemetry and POST2 simulation predictions. These comparisons are important in order to understand how each of the individual models performed, as well as the integrated simulation as a whole. This information is fed forward to future missions, which benefit from the knowing where additional resources or study are needed and where uncertainties may be reduced to enable improved performance.

David W Way↗

Assessment of the Mars 2020 Entry, Descent, and Landing Simulation

On February 18, 2021, the Mars 2020 Perseverance rover successfully landed inside Jezero Crater at 18.44463 deg North latitude and 77.45088 deg East longitude. At 1026 kg, Perseverance is the largest, most sophisticated rover ever delivered to another planet. This event marked the ninth successful landing and fifth rover to be delivered at Mars. The Program to Optimize Simulated Trajectories II (POST2) is a trajectory simulation tool maintained by the NASA Langley Research Center. POST2 was the prime EDL performance simulation for Mars 2020. This tool has significant heritage on the previous Pathfinder, MER, Phoenix, InSight, and MSL landings. This paper presents a few initial comparisons between EDL flight telemetry and POST2 simulation predictions. These comparisons are important in order to understand how each of the individual models performed, as well as the integrated simulation as a whole. This information is fed forward to future missions, which benefit from the knowing where additional resources or study are needed and where uncertainties may be reduced to enable improved performance.

David Way↗

The Mars 2020 Rover Mission: EISD Participation in Mission Science and Exploration

The Mars 2020 Rover mission will search for potential biosignatures on the martian surface, use new techniques to search for and identify tracelevel organics, and prepare a cache of samples for potential return to Earth. Identifying trace organic compounds is an important tenet of searching for potential biosignatures. Previous landed missions have experienced difficulty identifying unambiguously martian, unaltered organic compounds, possibly because any organic species have been destroyed on heating in the presence of martian perchlorates and/or other oxidants. The SHERLOC instrument on Mars 2020 will use ultraviolet (UV) fluorescence and Raman spectroscopy to identify trace organic compounds without heating the samples.

Fries, M.↗

Precision Instrument Targeting via Image Registration for the Mars 2020 Rover

A key component of Mars exploration is the operation of robotic instruments on the surface, such as those on board the Mars Exploration Rovers, the Mars Science Laboratory (MSL), and the planned Mars 2020 Rover. As the instruments carried by these rovers have become more advanced, the area targeted by some instruments becomes smaller, revealing more fine-grained details about the geology and chemistry of rocks on the surface. However, thermal fluctuations, rover settling or slipping, and inherent inaccuracies in pointing mechanisms all lead to pointing error that is on the order of the target size (several millimeters) or larger. We show that given a target located on a previously acquired image, the rover can align this with a new image to visually locate the target and refine the current pointing. Due to round-trip communication constraints, this visual targeting must be done efficiently on board the rover using relatively limited computing hardware. We employ existing ORB features for landmark-based image registration, describe and theoretically justify a novel approach to filtering false landmark matches, and employ a random forest classifier to automatically reject failed alignments. We demonstrate the efficacy of our approach using over 3,800 images acquired by Remote Micro-Imager on board the “Curiosity” rover.

Doran, Gary↗

Collecting Samples from the Máaz Formation of Jezero Crater with the Mars 2020 Perseverance Rover

Collection of samples that could be returned to Earth from the floor of Jezero,a Noachian crater characterized by a delta–lake system with high potential for habitability, is a major goal of the Mars 2020 mission. The Mars 2020 Perseverancerover iscurrently exploringthe Máaz and Séítahformationsto the southeastof the delta. Here wefocus on thecrater-retainingMáaz formation, a widespread, rough and fractured terrain with lobatemarginsmapped in orbital images, e.g.[1]. Outcrop morphology and texture, as well as the appearance, composition and mineralogy of abraded rock surfaces observed by Perseverance suggest that theMáazformation consists of asequence of maficigneous units, likely lavas flows. These rocks have experienced variable interaction with aqueous fluids. Type localities of the lower Roubion and the more resistant Rochette members of the Máazformation have been targeted and their abraded surfaces characterized prior to sample collection. In thispresentation we will summarize these sampling activities and potential future sampling of theheavily crateredupperCh’ałmember that is indicative of the Máazformationfrom orbit.

Justin Ibrahim Simon↗

The Calibration Target for the Mars 2020 SHERLOC Instrument: Multiple Science Roles for Future Manned and Unmanned Mars Exploration

The Scanning Habitable Environments with Raman & Luminescence for Organics & Chemicals (SHERLOC) instrument is a deep ultraviolet (UV) Raman/fluorescence instrument selected as part of the Mars 2020 rover instrument suite. SHERLOC will be mounted on the rover arm and its primary role is to identify carbonaceous species in martian samples, which may be selected for inclusion into a returnable sample cache. The SHERLOC instrument will require the use of a calibration target, and by design, multiple science roles will be addressed in the design of the target. Samples of materials used in NASA Extravehicular Mobility unit (EMU, or "space suit") manufacture have been included in the target to serve as both solid polymer calibration targets for SHERLOC instrument function, as well as for testing the resiliency of those materials under martian ambient conditions. A martian meteorite will also be included in the target to serve as a well-characterized example of a martian rock that contains trace carbonaceous material. This rock will be the first rock that we know of that has completed a round trip between planets and will therefore serve an EPO role to attract public attention to science and planetary exploration. The SHERLOC calibration target will address a wide range of NASA goals to include basic science of interest to both the Science Mission Directorate (SMD) and Human Exploration and Operations Mission Directorate (HEOMD).

Fries, M.↗

Highlights of the Mars 2020 Environmental Test Program

Environmental requirements for Mars 2020 (M2020) were established early in the program (due to inheritance from Mars Science Laboratory [MSL]), and a comprehensive test implementation program was developed as the spacecraft design matured. Several design scope changes happened during development (for example, addition of a helicopter), and the test program expanded accordingly. The environmental test program included hundreds of assembly-level mission-qualifying tests, which fed into the system-level environmental test program. This paper describes the highlights of selected portions of the assembly and system level test program.

Dodge, Randy↗

Improved Chemistry and Attenuation Models for Communication Blackout Simulation During Mars 2020 Entry

As a blunt body enters a planetary atmosphere, a plasma forms in the hypersonic shock layer and attenuates radio communication causing signal blackout for some duration of the entry sequence. In our previous work,1 computational fluid dynamics (CFD) was applied to model the entry flow around the Mars 2020 spacecraft, including ionization and electron density throughout the flow field, and predict ultra-high frequency (UHF) radio wave attenuation due to electrons. In total, 17 chemical species and their spatial profiles are modelled around the Mars 2020 spacecraft at 11 different points in time during entry. Although the simulation predicted the onset of attenuation well, the timing of the end of the predicted blackout window significantly preceded the end time observed during the 2021 landing. The present work seeks to improve the attenuation model by accounting for the fact that electrons undergo collisions with heavier species in the flow, which is an effect that was neglected in previous analyses. It is determined that including electron collisions increases the overall magnitude of attenuation predicted especially towards the end of the measured attenuation period, improving qualitative agreement between predicted and measured attenuation to both spacecraft receiving the signal from Mars 2020. To explore the remaining uncertainty in signal attenuation predictions further, a sensitivity study is performed to investigate the impact of associative ionization and electron-impact ionization rate coefficients on the electron density predicted by CFD and on the resulting attenuation predictions. These coefficients are believed to contain up to order-of-magnitude uncertainty, and therefore may significantly affect the number density of electrons throughout the flow field. Variations in associative ionization coefficients demonstrate significant impact on the magnitude of attenuation due to variation in the electron density coming from associative ionization. However, the start and end times of the predicted signal attenuation period are only slightly impacted by said variation.

Eve Papajak↗

Improved Chemistry and Attenuation Models for Communication Blackout Simulation During Mars 2020 Entry

As a blunt body enters a planetary atmosphere, a plasma forms in the hypersonic shock layer and attenuates radio communication causing signal blackout for some duration of the entry sequence. In our previous work,1 computational fluid dynamics (CFD) was applied to model the entry flow around the Mars 2020 spacecraft, including ionization and electron density throughout the flow field, and predict ultra-high frequency (UHF) radio wave attenuation due to electrons. In total, 17 chemical species and their spatial profiles are modelled around the Mars 2020 spacecraft at 11 different points in time during entry. Although the simulation predicted the onset of attenuation well, the timing of the end of the predicted blackout window significantly preceded the end time observed during the 2021 landing. The present work seeks to improve the attenuation model by accounting for the fact that electrons undergo collisions with heavier species in the flow, which is an effect that was neglected in previous analyses. It is determined that including electron collisions increases the overall magnitude of attenuation predicted especially towards the end of the measured attenuation period, improving qualitative agreement between predicted and measured attenuation to both spacecraft receiving the signal from Mars 2020. To explore the remaining uncertainty in signal attenuation predictions further, a sensitivity study is performed to investigate the impact of associative ionization and electron-impact ionization rate coefficients on the electron density predicted by CFD and on the resulting attenuation predictions. These coefficients are believed to contain up to order-of-magnitude uncertainty, and therefore may significantly affect the number density of electrons throughout the flow field. Variations in associative ionization coefficients demonstrate significant impact on the magnitude of attenuation due to variation in the electron density coming from associative ionization. However, the start and end times of the predicted signal attenuation period are only slightly impacted by said variation.

Eve Papajak↗

Radiative Heating Indicators and Uncertainty Analysis for Mars 2020

This paper will present analysis to evaluate a functional form and associated parameters to determine the radiative heating at various back-shell locations of the Mars 2020 aeroshell. The radiative heating indicators are used for preliminary vehicle design, and to determine the worst-case trajectories for peak radiative heat flux and load. Historically, the functional form for radiative heating is based on free-stream parameters of density, velocity and a length scale, typically the nose-radius (or equivalent). However, a fit of this form has been shown to not provide significant enough accuracy when compared to simulation results. Therefore, a fit based on post-shock equilibrium calculations of CO and CO2 number density, temperature and pressure has been devised. The results from the TPS 15 01 trajectory were used to develop the fit. The fit was then applied to the MSL best estimated trajectory (BET). Furthermore, the paper will quantify the uncertainty in simulations of the radiative heating for Mars 2020.

Mars 2020↗

The Mars 2020 lander vision system field test

The Mars 2020 Lander Vision System estimates position relative to a map and provides this information to the spacecraft so that large hazards can be avoided during landing. The LVS is a new mission critical sensor and as such requires extensive validation. A field test conducted in May 2019 was the primary means to prove that the LVS will operate as designed. During this test over 600 independent real-time runs on engineering model LVS hardware and software were executed and clearly showed that it could meet a 40m position estimation requirement over a wide operational envelope. This paper will describe the test approach, operations and results. Specific examples as well as aggregate performance will be discussed along with off-nominal testing and fault recovery.

Montgomery, J.↗

The Mars 2020 Lander Vision System Field Test

The Mars 2020 Lander Vision System estimates position relative to a map and provides this information to the spacecraft so that large hazards can be avoided during landing. The LVS is a new mission critical sensor and as such requires extensive validation. A field test conducted in May 2019 was the primary means to prove that the LVS will operate as designed. During this test over 600 independent real-time runs on engineering model LVS hardware and software were executed and clearly showed that it could meet a 40m position estimation requirement over a wide operational envelope. This paper will describe the test approach, operations and results. Specific examples as well as aggregate per-formance will be discussed along with off-nominal testing and fault recovery.

Johnson, A.↗

Wind-Driven Erosion and Exposure Potential at Mars 2020 Rover Candidate-Landing Sites

Aeolian processes have likely been the predominant geomorphic agent for most of Mars’ history and have the potential to produce relatively young exposure ages for geologic units. Thus, identifying local evidence for aeolian erosion is highly relevant to the selection of landing sites for future missions, such as the Mars 2020 Rover mission that aims to explore astrobiologically relevant ancient environments. Here we investigate wind-driven activity at eight Mars 2020 candidate-landing sites to constrain erosion potential at these locations. To demonstrate our methods, we found that contemporary dune-derived abrasion rates were in agreement with rover-derived exhumation rates at Gale crater and could be employed elsewhere. The Holden crater candidate site was interpreted to have low contemporary erosion rates, based on the presence of a thick sand coverage of static ripples. Active ripples at the Eberswalde and southwest Melas sites may account for local erosion and the dearth of small craters. Moderate-flux regional dunes near Mawrth Vallis were deemed unrepresentative of the candidate site, which is interpreted to currently be experiencing low levels of erosion. The Nili Fossae site displayed the most unambiguous evidence for local sand transport and erosion, likely yielding relatively young exposure ages. The down selected Jezero crater and northeast Syrtis sites had high-flux neighboring dunes and exhibited substantial evidence for sediment pathways across their ellipses. Both sites had relatively high estimated abrasion rates, which would yield young exposure ages. The down selected Columbia Hills site lacked evidence for sand movement, and contemporary local erosion rates are estimated to be relatively low.

Matthew Chojnacki↗