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Pancam Mast Assembly on Mars Rover

The Pancam Mast Assembly (PMA) for the 2003 Mars Rover is a deployable structure that provides an elevated platform for several cameras. The PMA consists of several mechanisms that enable it to raise the cameras as well as point the cameras in all directions. This paper describes the function of the various mechanisms as well as a description of the mechanisms and some test parameters. Designing these mechanisms to operate on the surface of Mars presented several challenges. Typical spacecraft mechanisms must operate in zero-gravity and high vacuum. These mechanisms needed to be designed to operate in Martian gravity and atmosphere. Testing conditions were a little easier because the mechanisms are not required to operate in a vacuum. All of the materials are vacuum compatible, but the mechanisms were tested in a dry nitrogen atmosphere at various cold temperatures.

Warden, Robert M.↗

Electromagnetic Compatibility Test and Analysis Campaign of NASA's Mars 2020 Rover Final Submission

NASA's Mars 2020 Perseverance Rover—with a launch window opening July 2020, and landing expected February 2021—has mission objectives to look for evidence of habitability, seek biosignatures of past life, collect and cache samples for possible future return to Earth, and prepare for future human missions to Mars. The Rover platform is similar to the previous Mars Science Laboratory (MSL) “Curiosity” rover that landed in 2012 but contains a new suite of scientific instruments and upgrades to existing functionality: seven new and/or upgraded scientific payloads, an upgraded arm and sampling system, and a Helicopter demonstration. These changes—along with new efficiency goals to operate more Rover subsystems concurrently and thus collect more science—presented new electromagnetic compatibility (EMC) challenges. In this paper, we will describe the campaign to ensure Mars 2020 mission success from an electromagnetic environment perspective: 1) confirming existing MSL heritage subsystems and EMC requirements were compatible with the new Mars 2020 mission objectives, 2) engaging with engineers and scientists early in the project to identify and evaluate risks before hardware assembly and performing ambitious risk reduction tests, 3) undertaking a comprehensive subsystem qualification test program based on tailored MIL-STD-461F requirements, occasionally leading to redesign, 4) synthesizing the data collected to perform detailed analyses toward the goal of making risk-informed decisions at a system level. The spacecraft successfully completed all three planned system level tests, demonstrating self-compatibility with minimal impact to operations from electromagn

Gonzales, Edward C↗

Moon to Mars (M2M) Habitation Considerations: A Snap Shot As of January 2022

The following NASA Technical Memorandum (TM) is intended to provide a snapshot in time of NASA’s current considerations (ground rules and assumptions, functional allocations, logistics) for habitation systems for the lunar surface (non-roving) and Mars transits. As NASA continues to refine the reference designs to meet the needs of an evolving architecture, it is expected that this information will also be updated as a result. Where appropriate, relevant publicly released documents will be referenced to provide further detail. NASA’s human lunar exploration plan under the Artemis program calls for achieving the goal of sending the first woman and first person of color to the surface of the Moon in the mid- 2020s and working toward sustainable exploration by the end of the decade. Working with both commercial and international partners, NASA will establish a permanent human presence on the Moon to uncover new scientific discoveries and lay the foundation for private companies to build a lunar economy. Longer duration missions on the lunar surface and in lunar orbit will also serve as a test bed for technologies to support future Mars exploration campaigns. The agency will use what we learn on the Moon to prepare for humanity's next giant leap – sending astronauts to Mars. NASA intends to establish a sustained lunar presence with the development of the Artemis Base Camp to prove technologies and capabilities that will one day enable humans to live and work on Mars, beginning with core elements including the Lunar Terrain Vehicle (LTV), the Pressurized Rover (PR), the lunar Surface Habitat (SH), power systems, and in-situ resource utilization (ISRU) systems. For in space operations and eventual transport of humans to Mars, NASA will utilize a Mars Transit Habitat (TH). Following deployment, the TH will complete a series of longer duration missions and shakedown testing while docked at Gateway, leveraging Gateway’s habitation redundancy for safety measures. Proposed Gateway-TH missions will far exceed the longest duration cislunar human missions to date. They will be the first operational readiness tests of our long-duration deep space systems, and of the split crew (two crew on the surface, two crew in space) operations that are vital to the approach for the first human Mars mission. Both the SH and TH are major architectural elements of NASA’s Moon to Mars (M2M) approach, each with very different concepts of operation. The SH is intended for use on the lunar surface as a home for astronauts, surface operations base, science facility, hub for communications, extravehicular activity (EVA) equipment repair site, waste processing facility, and supply hub. It serves as an enabler for a sustained surface presence and preparation for partial gravity operations during Mars missions. The SH will be designed to be self-sufficient for operations on the lunar surface. The SH will independently provide several functions, including its own power generation, energy storage capability, sleep quarters, hygiene areas, work areas, and dining areas. It will be capable of communicating with surface assets, orbital assets, and directly with Earth ground stations. It is planned to operate with two crew in the habitat for ~28- day stays with crew swap-outs in which the PR crew of two trades places with the habitat crew. During the swap-out, the habitat will nominally support four crew for a short period of time. For contingency scenarios, the habitat must also be capable of supporting four crew for up to 7 days. The TH will be designed to be capable of up to ~1,200-day Mars missions with the ability to carry all food and supplies needed to support a crew of four for this duration. An assumed Mars mission profile for the TH is to carry crew and supplies for ~850-day roundtrips between Earth and Mars orbit that allows 30-day stays on the Martian surface. To test the systems for this long journey, the TH will be used to extend the duration of missions at Gateway, enabling the orbiting outpost to be used as a Mars analog. These analog missions will be accomplished by attaching the TH to Gateway and conducting lunar surface operations from the TH. The TH may also need to perform free-flying shakedown missions to test out all systems prior to leaving for Mars. The habitat provides many critical functions including: a contingency airlock, crew quarters, galley, hygiene areas, safe haven capability, and science equipment. It can receive docked items from either axial end or on a radial port.

Habitat↗

Desert Research and Technology Studies (D-RATS) 2022 Quicklook Report

This report summarizes the Desert Research and Technology Studies (D-RATS) 2022 analog tests. BACKGROUND - Artemis Challenges – NASA’s concept of operations (ConOps) for the Artemis mission architecture brings new challenges for human exploration of the lunar surface, including: (1) Low-angle, natural lighting at lunar poles; and (2) Exploration sites that challenge communication with Earth. - International Partner Involvement – NASA is working with the Japan Aerospace Exploration Agency (JAXA) to scope mission & functional requirements for an Artemis Pressurized Rover (PR), which JAXA may provide. - Charter – HQ Exploration Systems Development Mission Directorate (ESDMD) Moon to Mars Architecture Development Office (M2MADO) Strategy and Architectures (SA) chartered the Human-in-the-Loop (HITL) test team to investigate Artemis architectural questions related to pressurized rover ConOps. - Rationale – to inform the NASA/JAXA pressurized rover study-agreement. PLAN - Objectives – Analog tests conducted in October 2022 by the D-RATS team addressed three high-level objectives: 1. Investigate pressurized rover (PR) ConOps and capabilities for Artemis exploration 2. Integrate with JAXA engineers & astronauts and incorporate JAXA PR design elements into testing. 3. Re-establish analog field-testing skills & capabilities with rovers to investigate Artemis architecture ConOps. - Secondary Objectives – Work with other groups to leverage D-RATS field test for additional objectives. 4. Work with the Public Affairs Office (PAO) to perform D-RATS public outreach activities. 5. Coordinate with the Human Physiology Performance Protection & Operations (H-3PO) team to facilitate in-field evaluation of human health and performance (HHP) objectives. 6. Share D-RATS field-site and assets with Lunar LTE Studies (Lunar LiTES) team, to aid their study of the use of 4G/LTE communication protocols and devices for astronauts and robotic nodes on the lunar surface. - Team – Fully integrated test team comprised of members from 5 NASA centers, JAXA, and the United States Geological Survey (USGS) - Location – Black Point Lava Flow, ~40 miles north of Flagstaff, AZ HIGH-LEVEL OBJECTIVES ACCOMPLISHED - Investigated Pressurized Rover ConOps & Capabilities for Artemis Exploration (Objective 1) - Completed testing with 4 crew pairs, each spending 3 days and 2 nights in the rover conducting Artemis PR dayin-the-life activities (2 JAXA astronauts, 2 JAXA engineers, 1 NASA astronaut, 3 NASA engineers). - Collected detailed objective & subjective data supporting 10 strategic questions related to Artemis PR operations. - Field geologists present in field observed rover operations & EVAs. - Science team in Houston MCC communicated directly with crew. - Demonstrated crew-led and MCC-led PR teleoperation use cases during EVAs. - Integrated with JAXA Engineers & Astronauts and Incorporated JAXA PR Design Elements into Testing (Objective 2) - NASA & JAXA engineers, flight controllers, scientists, roboticists, and astronauts directly participated in and/or observed testing both in field and in MCC-Houston. - Incorporated JAXA PR design elements into both integrated and standalone testing at JSC and in the field. - Re-established Analog Field-Testing Skills & Capabilities with Rovers to Investigate Artemis Architecture ConOps (Objective 3) - Multiple teams successfully worked to establish and manage field-test base camp, monitor and maintain the rover, and plan and execute 2 weeks of consecutive field-testing with little to no breaks between crews. TEST OUTCOMES - Results will inform Artemis architecture ConOps & capabilities related to pressurized rover operations (see sections 2 for more details) - Summary and team detailed reports will be posted on the D-RATS 2022 wiki

Analog↗

Electromagnetic Compatibility Test and Analysis Campaign of NASA's Mars 2020 Rover

NASA's Mars 2020 Rover—with a launch window opening July 2020, and landing expected February 2021—has mission objectives to look for evidence of habitability, seek biosignatures of past life, collect and cache samples for possible future return to Earth, and prepare for future human missions. The Rover platform is similar to the previous Mars Science Laboratory (MSL) “Curiosity” rover that landed in 2012 but contains a new suite of scientific instruments and upgrades to existing functionality. The scientific payload includes a trio of chemical analysis tools (PIXL, SHERLOC, SuperCam), a ground penetrating radar (RIMFAX), an upgraded weather station (MEDA), upgraded high resolution camera (MastCam-Z), and an oxygen-producing experiment (MOXIE). These changes—along with new efficiency goals to operate more Rover subsystems concurrently and thus collect more science—presented new electromagnetic compatibility (EMC) challenges. In this paper, we will describe the campaign to ensure Mars 2020 mission success from an electromagnetic environment perspective: 1) confirming existing MSL heritage subsystems and EMC requirements were compatible with the new Mars 2020 mission objectives, 2) engaging with engineers and scientists early in the project to identify and evaluate risks before hardware assembly and performing ambitious risk reduction tests, 3) undertaking a comprehensive subsystem qualification test program based on tailored MIL-STD-461F requirements, occasionally leading to redesign, 4) synthesizing the data collected to perform detailed analyses toward the goal of making risk-informed decisions at a system level. The spacecraft has successfully completed all three planned system level tests, demonstrating self-compatibility with minimal impact to operations from electromagnetic interference in all mission phases.

Gonzales, Edward C↗

Mars Pathfinder Microrover- Implementing a Low Cost Planetary Mission Experiment

The Mars Pathfinder Microrover Flight Experiment (MFEX) is a NASA Office of Space Access and Technology (OSAT) flight experiment which has been delivered and integrated with the Mars Pathfinder (MPF) lander and spacecraft system. The total cost of the MFEX mission, including all subsystem design and development, test, integration with the MPF lander and operations on Mars has been capped at $25 M??is paper discusses the process and the implementation scheme which has resulted in the development of this first Mars rover.

Mars Pathfinder↗

First 210 solar days of Mars 2020 Perseverance Robotic Operations – Mobility, Robotic Arm, Sampling, and Helicopter

This paper includes the summary, lessonslearned, and upcoming plans for the first 210 Mars solar days(sols) of the mission. The focus of the paper is on roboticoperations which has the primary responsibility for strategicplanning, uplink commanding and downlink analysis forrover mobility and navigation, robotic arm operation, thesampling and caching capability including coring, theadaptive caching assembly and the 2nd sample handlingrobotic arm, and interface to the Mars helicopter Ingenuity.As of Sol 210 the rover has driven 2663.65 meters, executed20764 robotic arm and sampling commands, and hassuccessfully completed 13 helicopter flights covering 2382meters horizontal distance. It includes the OperationsReadiness Tests in preparation for landing, landing and initialcheckouts, strategic route planning to the science destinationand waypoints, surface checkout of all of the roboticscapability of the rover. It also discusses the strategic planningand tactical agility needed for interleaving scienceinvestigation and technology demonstration of the Marshelicopter flights where a minimum distance had to bemaintained between the rover and helicopter during flights. Itdiscusses the challenges with planning robotic operations andaddressing anomalies with the larger uncertainty presentduring early mission operations. It also discusses the impacton robotic operations from lessons incorporated fromprevious missions.

Ono, Hiro↗

A Capable and Temporary Test Facility on a Shoestring Budget: The MSL Touchdown Test Facility

The Mars Science Laboratory mission (MSL) has undertaken a developmental Touchdown Test Program that utilizes a full-scale rover vehicle and an overhead winch system to replicate the skycrane landing event. Landing surfaces consisting of flat and sloped granular media, planar, rigid surfaces, and various combinations of rocks and slopes were studied. Information gathered from these tests was vital for validating the rover analytical model, validating certain design or system behavior assumptions, and for exploring events and phenomenon that are either very difficult or too costly to model in a credible way. This paper describes this test program, with a focus on the creation of test facility, daily test operations, and some of the challenges faced and lessons learned along the way.

rover↗

Autonomous Rovers for Mars Exploration

Rovers will play a critical role in the exploration of Mars. Near-term mission plans call for long traverses over unknown terrain, robust navigation and instrument placement, and reliable operations for extended periods of time. Longer-term missions may visit multiple science sites in a single day and perform opportunistic science data collection, as well as complex scouting, construction, and maintenance tasks in preparation for an eventual human presence. The Pathfinder mission demonstrated the potential for robotic Mars exploration but at the same time indicated the need for more rover autonomy. The highly ground-intensive control with infrequent communication and high latency limited the effectiveness of the Sojourner rover. When failures occurred, Sojourner often sat idle for extended periods of time, awaiting further commands from earth. In future missions, the tasks will be more complex and extended; hence there will be even more situations where things do not go exactly as planned. Significant advances in rover autonomy are needed to cope with increasing task complexity and greater execution uncertainty. Towards this end, we have designed an on-board executive architecture that incorporates robust operation, resource utilization, and failure recovery. In addition, we have designed ground tools to produce and refine contingent schedules that take advantage of the on-board architecture's flexible execution characteristics. Together, the on-board executive and the ground tools constitute an integrated rover autonomy architecture. This work draws from our experience with the Deep Space One autonomy experiment, with enhancements to ensure robust operation in the face of the unpredictable, complex environment that the rover will encounter on Mars. The rover autonomy architecture is currently being developed and deployed on the Marsokhod rover platform at NASA Ames Research Center. The capabilities of the rover autonomy architecture to support autonomous operations will be demonstrated concretely in upcoming field tests.

Anderson, Corin↗

Concept for coring from a low-mass rover

Future Mars missions, such as the Mars Sample Return (MSR) mission, may benefit from core sample acquisition from a low-mass rover where the rover cannot be assumed to be stationary during a coring operation. Manipulation from Mars rovers is currently done under the assumption that the rover acts as a stationary, stable platform for the arm. An MSR mission scenario with a low-mass rover has been developed and the technology needs have been investigated. Models for alternative types of coring tools and tool-environment interaction have been developed and input along with wheel-soil interaction models into the Stanford Simulation & Active Interfaces (SAI) simulation environment to enable simulation of coring operations from a rover. Coring tests using commercial coring tools indicate that the quality of the core is a critical criterion in the system design. Current results of the models, simulation, and coring tests are provided.

rovers↗

Mars Commercial-Compatible Initial Human-Precursor Surveying and Instrument-Deployment Concepts

Water is a critical resource need for future human exploration and habitation of Mars and other planetary environments. An integral scientific question in the search for life outside of Earth is: What are the constraints on life in planetary environments? One of the most critical features of habitable environments is the availability of water - both as an environment for prebiotic chemistry, abiogenesis, and life; and as a vehicle for generating geo- and electro- chemical systems that can support metabolism. Seeking evidence of life prior to human arrival is important both to preserve signs of any existing or past evidence of Martian life, reducing the risks of unintentional forward contamination of Martian environments, and to potentially protect the health of any human crews. Looking forward towards Mars, future human exploration will require a rapid, but thorough, initial survey of any local “area of operations” on Mars to determine the spatial distribution, quantity, and quality (e.g., salt/mineral/organic content) of any local water, as well as to evaluate any signs of current or extinct life. We will discuss several candidate field survey methodologies, involving humans, a teamed instrument platform and a surveying/sampling rover. These are proposed to be validated in a given terrestrial Mars analog environment exhibiting varying distributions of water (ice, permafrost, rock-bound) to evaluate the constraints on life. Commercial space exploration brings the future possibility of unprecedented mass, power and in situ instrument capability, potentially enabling thorough exploration of the geology, hydrology and astrobiology of a km-radius study-zone around a future Mars human/commercial space landing site. We propose to study several representative planetary surface precursor-survey architectures and mission concepts (that are commercial-Mars-compatible), and to test and compare them in field application. We will examine some of the performance issues, using given metrics and controls, of spacesuited humans using handheld and standalone instruments, vs. a robotic human-tended rover/drill, robot arm and instruments. The latter rover-based architecture can in turn be viewed in terms of returned-to-base sample in-situ analyses vs sample analysis performed on a standalone instrument platform deployed away from the primary area of operations.

astrobiology↗

NASA GRC Stirling Technology Development Overview

The Department of Energy, Lockheed Martin (LM), Stirling Technology Company, and NASA Glenn Research Center (GRC) are developing a high-efficiency Stirling Radioisotope Generator (SRG) for potential NASA Space Science missions. The SRG is being developed for multimission use, including providing spacecraft onboard electric power for NASA deep space missions and power for unmanned Mars rovers. NASA GRC is conducting an in- house supporting technology project to assist in developing the Stirling convertor for space qualification and mission implementation. Preparations are underway for a thermalhacuum system demonstration and unattended operation during endurance testing of the 55-We Technology Demonstration Convertors. Heater head life assessment efforts continue, including verification of the heater head brazing and heat treatment schedules and evaluation of any potential regenerator oxidation. Long-term magnet aging tests are continuing to characterize any possible aging in the strength or demagnetization resistance of the permanent magnets used in the linear alternator. Testing of the magnet/lamination epoxy bond for performance and lifetime characteristics is now underway. These efforts are expected to provide key inputs as the system integrator, LM, begins system development of the SRG. GRC is also developing advanced technology for Stirling convertors. Cleveland State University (CSU) is progressing toward a multi-dimensional Stirling computational fluid dynamics code, capable of modeling complete convertors. Validation efforts at both CSU and the University of Minnesota are complementing the code development. New efforts have been started this year on a lightweight convertor, advanced controllers, high-temperature materials, and an end-to-end system dynamics model. Performance and mass improvement goals have been established for second- and third-generation Stirling radioisotope power systems.

Thieme, Lanny G.↗

Multi-Agent Modeling and Simulation Approach for Design and Analysis of MER Mission Operations

A space mission operations system is a complex network of human organizations, information and deep-space network systems and spacecraft hardware. As in other organizations, one of the problems in mission operations is managing the relationship of the mission information systems related to how people actually work (practices). Brahms, a multi-agent modeling and simulation tool, was used to model and simulate NASA's Mars Exploration Rover (MER) mission work practice. The objective was to investigate the value of work practice modeling for mission operations design. From spring 2002 until winter 2003, a Brahms modeler participated in mission systems design sessions and operations testing for the MER mission held at Jet Propulsion Laboratory (JPL). He observed how designers interacted with the Brahms tool. This paper discussed mission system designers' reactions to the simulation output during model validation and the presentation of generated work procedures. This project spurred JPL's interest in the Brahms model, but it was never included as part of the formal mission design process. We discuss why this occurred. Subsequently, we used the MER model to develop a future mission operations concept. Team members were reluctant to use the MER model, even though it appeared to be highly relevant to their effort. We describe some of the tool issues we encountered.

Seah, Chin↗

Advancing Dust Tolerant Mechanisms for a Sustained Exploration of the Moon

Introduction: “I think dust is probably one of our greatest inhibitors to a nominal operation on the Moon. I think we can overcome other physio-logical or physical or mechanical problems except dust.”– Gene Cernan, Apollo 17 Technical Debrief The Apollo missions revealed the impact of lu-nar dust on mechanisms. Lunar dust particles are jagged and electrostatically charged, giving them the ability to bind or damage mechanisms and alter thermal properties. Reports documented clogged equipment and jammed mechanisms in every mission, regardless of surface duration, as well as clogged mechanisms in the Extravehicular Mobility Suit (EMS), including zippers, wrist and hose locks, faceplates, and sunshades [1-2]. Several astronauts remarked they could not have sustained surface activity much longer because clogged joints would have frozen up completely [2]. Effective dust mitigation strategies are need-ed to support longer duration stays on the lunar surface [3-4]. State of the Art: Technology for mechanisms able to operate in dusty enviroments is advancing rapidly due to the needs of both Mars rovers and the Artemis program. Vacuum-tight connectors are essential for spacesuits and habitats, and their performance can be dependent on cleaning technologies, which have proven difficult on the lunar surface. Several TRL 3-5 technologies are undergoing tests with the expectation to reach TRL 6 within 1-2 years. Some mechanisms will be infused and tested on the VIPER (Volatiles Inves-tigating Polar Exploration Rover) mission planned for mid-2020s. NASA Funded Efforts: NASA has recognized the need for dust tolerant mechanisms, and has partnered with industry to advance the state-of-the-art. At NASA GRC, KSC, and JSC, the Dust Tolerant Mechanisms Project is working to devel-op advanced actuator seals for rotary joints and rotary bearing technologies for long-term sus-tained operation in lunar dust environments. An-other NASA project at NASA GRC, partnered with GSFC, JPL, and KSC is Motors for Dusty & Ex-treme Cold Environments (MDECE). MDECE is developing an unheated magnetically-geared mo-tor that can operate continuously for a long dura-tion at an ambient temperature of -243 ºC (33 K). NASA GRC has the capability to characterize the effects of dust on seals, mechanisms, and other mating surfaces and components under lunar conditions [5]. Through the SBIR/STTR program, NASA has funded several companies to advance dust toler-ant mechanisms via the Dust Tolerant Mecha-nisms sub-topic with applications in surface mobil-ity, spacesuits, connectors, joints, and more. LSIC and Community Efforts: The Lunar Surface Innovation Consortium (LSIC) Dust Miti-gation focus group has fostered collaborations across NASA, industry, and academia to develop solutions that minimizes the impact of lunar dust on robotic and human systems. Community ef-forts have included topical meetings on dust tol-erant mechanisms, featured technology presenta-tions, and feedback to NASA on potential gaps and needs. Testing: In 2021, NASA released NASA-STD-1008 [6]. This NASA Technical Standard estab-lishes minimum requirements and provides guid-ance for testing systems and hardware to be ex-posed to dust in planetary environments. The standard has specific sections dedicated to Mechanisms Testing (e.g. bearings, gears) as well as Seals and Mating Surfaces Testing (e.g. hatches, docking systems). Gaps and Needs: NASA is tracking dust tol-erant mechanisms as a gap in a cross-directorate analysis of capability areas needed to enable fu-ture human space-flight architectures. Two high-priority gap areas include additional facilities for testing mechanisms in lunar-surface conditions, and a better understanding of vulnerabilities to the smallest, nanometer-scale dust particles. Conclusion: Understanding and mitigating lu-nar dust is critical to successful, sustained opera-tions on the lunar surface – whether autonomous or otherwise. This presentation will discuss both the state-of-the-art and open needs in lunar dust tolerant mechanisms, technology impacts, mitiga-tion approaches, testing, LSIC community efforts, and more. References: [1] Gaier, J. R. (2020). The Im-pact of Dust on Lunar Surface Equipment During Apollo. Lunar Dust 2020. [2] GRC, & Gaier, J. R. (2005). The Effects of Lunar Dust on EVA Sys-tems During the Apollo Missions. [3] Johansen, M. R. (2020). An Update on NASA’s Lunar Dust Mitigation Strategy. Lunar Dust 2020. [4] ASI, CSA, ESA, JAXA, & NASA. (2016). Dust Mitiga-tion Gap Assessment Report. [5] Jimenez, N. et al (2022), LPSC Abstract 2572. [6] NASA-STD-1008, 2021.

J I Nunez↗

Automated Targeting for the MER Rovers

The Autonomous Exploration for Gathering Increased Science System (AEGIS) will soon provide automated targeting for remote sensing instruments on the Mars Exploration Rover (MER) mission, which currently which currently has two rovers exploring the surface of Mars. Currently, targets for rover remote-sensing instruments, especially narrow field-of-view instruments (such as the MER Mini- TES spectrometer or the 2011 Mars Science Laboratory (MSL) Mission ChemCam Spectrometer), must be selected manually based on imagery already on the ground with the operations team. AEGIS enables the rover flight software to analyze imagery onboard in order to autonomously select and sequence targeted remote-sensing observations in an opportunistic fashion. In this paper, we first provide some background information on the larger autonomous science framework in which AEGIS was developed. We then describe how AEGIS was specifically developed and tested on the JPL FIDO rover. Finally we discuss how AEGIS will be uploaded and used on the Mars Exploration Rover (MER) mission in early 2009.

rover autonomy↗

Operational modification of the Mars Exploration Rovers flight software

The Mars Exploration Rovers (MER)Flight Software (FSW) was designed from the outset to be modified during operations. This paper discusses the content of the uplink products that are sent to the Rover, the planning of the Patch and Load activities, the testing of the products and prcedures, and the actual operations themselves.

patch↗

Mars 2024/2026 Pathfinder Mission: Mars Architectures, Systems, and Technologies for Exploration and Resources Project

Integrate In Situ Resource Utilization (ISRU) sub-systems and examine advanced capabilities and technologies to verify Mars 2024 Forward architecture precursor pathfinder options: Integrated spacecraft/surface infrastructure fluid architecture: propulsion, power, life support center dot Power system feed and propellant scavenging from propulsion system center dot High quality oxygen for life support and EVA Fluid/cryogenic zero-loss transfer and long-term storage center dot Rapid depot-to-rover/spacecraft center dot Slow ISRU plant-to-ascent vehicle Integration of ISRU consumable production center dot Oxygen only from Mars atmosphere carbon dioxide center dot Oxygen, fuel, water, from extraterrestrial soil/regolith Test bed to evaluate long duration life, operations, maintenance on hardware, sensors, and autonomy

Technology Portfolio System↗

Lunar Limb Observatory: An Incremental Plan for the Utilization, Exploration, and Settlement of the Moon

This paper proposes a comprehensive incremental program, Lunar Limb Observatory (LLO), for a return to the Moon, beginning with robotic missions and ending with a permanent lunar settlement. Several recent technological developments make such a program both affordable and scientifically valuable: robotic telescopes, the Internet, light-weight telescopes, shared- autonomy/predictive graphics telerobotic devices, and optical interferometry systems. Reasons for focussing new NASA programs on the Moon include public interest, Moon-based astronomy, renewed lunar exploration, lunar resources (especially helium-3), technological stimulus, accessibility of the Moon (compared to any planet), and dispersal of the human species to counter predictable natural catastrophes, asteroidal or cometary impacts in particular. The proposed Lunar Limb Observatory would be located in the crater Riccioli, with auxiliary robotic telescopes in M. Smythii and at the North and South Poles. The first phase of the program, after site certification, would be a series of 5 Delta-launched telerobotic missions to Riccioli (or Grimaldi if Riccioli proves unsuitable), emplacing robotic telescopes and carrying out surface exploration. The next phase would be 7 Delta-launched telerobotic missions to M. Smythii (2 missions), the South Pole (3 missions), and the North Pole (2 missions), emplacing robotic telescopes to provide continuous all-sky coverage. Lunar base establishment would begin with two unmanned Shuttle/Fitan-Centaur missions to Riccioli, for shelter emplacement, followed by the first manned return, also using the Shuttle/Fitan-Centaur mode. The main LLO at Riccioli would then be permanently or periodically inhabited, for surface exploration, telerobotic rover and telescope operation and maintenance, and support of Earth-based student projects. The LLO would evolve into a permanent human settlement, serving, among other functions, as a test area and staging base for the exploration, settlement, and terraforming of Mars.

Lowman, Paul. D., Jr.↗