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At least 919 records · Page 51
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NASA NTRS2006

Processing of Mars Exploration Rover Imagery for Science and Operations Planning

The twin Mars Exploration Rovers (MER) delivered an unprecedented array of image sensors to the Mars surface. These cameras were essential for operations, science, and public engagement. The Multimission Image Processing Laboratory (MIPL) at the Jet Propulsion Laboratory was responsible for the first-order processing of all of the images returned by these cameras. This processing included reconstruction of the original images, systematic and ad hoc generation of a wide variety of products derived from those images, and delivery of the data to a variety of customers, within tight time constraints. A combination of automated and manual processes was developed to meet these requirements, with significant inheritance from prior missions. This paper describes the image products generated by MIPL for MER and the processes used to produce and deliver them.

Instruments↗
NASA NTRS2004

Data Management for Mars Exploration Rovers

Data Management for the Mars Exploration Rovers (MER) project is a comprehensive system addressing the needs of development, test, and operations phases of the mission. During development of flight software, including the science software, the data management system can be simulated using any POSIX file system. During testing, the on-board file system can be bit compared with files on the ground to verify proper behavior and end-to-end data flows. During mission operations, end-to-end accountability of data products is supported, from science observation concept to data products within the permanent ground repository. Automated and human-in-the-loop ground tools allow decisions regarding retransmitting, re-prioritizing, and deleting data products to be made using higher level information than is available to a protocol-stack approach such as the CCSDS File Delivery Protocol (CFDP).

Mars missions↗
NASA NTRS2006

Anomalistic Disturbance Torques during the Entry Phase of the Mars Exploration Rover Missions: A Telemetry and Mars-Surface Investigation

Shortly after landing on Mars, post-flight analysis of the "Spirit" entry data suggested that the vehicle experienced large, anomalistic oscillations in angle-of-attack starting at about M=6. Similar analysis for "Opportunity " found even larger oscillations starting immediately after maximum dynamic pressure at M=14. Where angles-of-attack of 1-2 degrees were expected from maximum dynamic pressure to drogue deployment, the reconstructions suggested 4 to 9 degrees. The next Mars lander, 2007 Phoenix project, was concerned enough to recommend further exploration of the anomalies. Detailed analysis of "Opportunity" data found significant anomalies in the hypersonic aerodynamic torques. The analysis showed that these torques were essentially fixed in the spinning vehicle. Nearly a year after landing, the "Oportunity" rover took pictures of its aeroshell on the surface, which showed that portions of the aeroshell thermal blanket assembly still remained. This blanket assembly was supposed to burn off very early in the entry. An analysis of the aeroshell photographs led to an estimate of the aerodynamic torques that the remnants could have produced. A comparison of two estimates of the aerodynamic torque perturbations (one extracted from telemetry data and the other from Mars surface photographs) showed exceptional agreement. Trajectory simulations using a simple data derived torque perturbation model provided rigid body motions similar to that observed during the "Opportunity" entry. Therefore, the case of the anomalistic attitude behavior for the "Opportunity" EDL is now considered closed and a suggestion is put forth that a similar event occurred for the "Spirit" entry as well.

Tolson, Robert H.↗
NASA NTRS2008

Moessbauer and Electron Microprobe Studies of Density Separates of Martian Nakhlite Mil03346: Implications for Interpretation of Moessbauer Spectra Acquired by the Mars Exploration Rovers

Martian meteorite MIL03346 is described as an augite-rich cumulate rock with approx.80%, approx.3%, and approx.21% modal phase proportions of augite (CPX), olivine and glassy mesostasis, respectively, and is classified as a nakhlite [1]. The Mossbauer spectrum for whole rock (WR) MIL 03346 is unusual for Martian meteorites in that it has a distinct magnetite subspectrum (~7% subspectral area) [2]. The meteorite also has products of pre-terrestrial aqueous alteration ("iddingsite") that is associated primarily with the basaltic glass and olivine. The Mossbauer spectrometers on the Mars Exploration Rovers have measured the Fe oxidation state and the Fe mineralogical composition of rocks and soils on the planet s surface since their landing in Gusev Crater and Meridiani Planum in January, 2004 [3,4]. The MIL 03346 meteorite provides an opportunity to "ground truth" or refine Fe phase identifications. This is particularly the case for the so-called "nanophase ferric oxide" (npOx) component. NpOx is a generic name for a ferric rich product of oxidative alteration. On Earth, where we can take samples apart and study individual phases, examples of npOx include ferrihydrite, schwertmannite, akagaaneite, and superparamagnetic (small particle) goethite and hematite. It is also possible for ferric iron to be associated to some unknown extent with igneous phases like pyroxene. We report here an electron microprobe (EMPA) and Moessbauer (MB) study of density separates of MIL 03346. The same separates were used for isotopic studies by [5]. Experimental techniques are described by [6,7].

Morris, R. V.↗
NASA NTRS2005

Distributed Operations for the Mars Exploration Rover Mission with the Science Activity Planner

Due to the length of the Mars Exploration Rover Mission, most scientists were unable to stay at the central operations facility at the Jet Propulsion Laboratory. This created a need for distributed operations software, in the form of the Distributed Science Activity Planner. The distributed architecture saved a considerable amount of money and increased the number of individuals who could be actively involved in the mission, contributing to its success.

collaboration↗
NASA NTRS2008

What We Might Know About Gusev Crater if the Mars Exploration Rover Spirit Mission were Coupled with a Mars Sample Return Mission

The science instruments on the Mars Exploration Rover (MER) Spirit have provided an enormous amount of chemical and mineralogical data during more than 1450 sols of exploration at Gusev crater. The Moessbauer (MB) instrument identified 10 Fe-bearing phases at Gusev Crater: olivine, pyroxene, ilmenite, chromite, and magnetite as primary igneous phases and nanophase ferric oxide (npOx), goethite, hematite, a ferric sulfate, and pyrite/marcusite as secondary phases. The Miniature Thermal Emission Spectrometer (Mini-TES) identified some of these Fe-bearing phases (olivine and pyroxene), non- Fe-bearing phases (e.g., feldspar), and an amorphous high-SiO2 phase near Home Plate. Chemical data from the Alpha Particle X-Ray Spectrometer (APXS) provided the framework for rock classification, chemical weathering/alteration, and mineralogical constraints. APXS-based mineralogical constraints include normative calculations (with Fe(3+)/FeT from MB), elemental associations, and stoichiometry (e.g., 90% SiO2 implicates opalline silica). If Spirit had cached a set of representative samples and if those samples were returned to the Earth for laboratory analysis, what value is added by Mars Sample return (MSR) over and above the mineralogical and chemical data provided by MER?

Morris, Richard V.↗
NASA NTRS2008

Health and Safety Benefits of Small Pressurized Suitport Rovers as EVA Surface Support Vehicles

Pressurized safe-haven providing SPE protection and decompression sickness (DCS) treatment capabilities within 20 mins at all times. Up to 50% reduction in time spent in EVA suits (vs. Unpressurized Rovers) for equal or greater Boots-on-Surface EVA exploration time. Reduces suit-induced trauma and provides improved options for nutrition, hydration, and waste-management. Time spent inside SPR during long translations may be spent performing resistive and cardiovascular exercise. Multiple shorter EVAs versus single 8 hr EVAs increases DCS safety and decreases prebreathe requirements. SPRs also offer many potential operational, engineering and exploration benefits not addressed here.

Gernhardt, Michael L.↗
NASA NTRS2006

Battery Control Boards for Li-Ion Batteries on Mars Exploration Rovers

Rechargeable Lithium-ion batteries have been operating successfully on both Spirit and Opportunity rovers for the last two years, which includes six months of Assembly Launch and Test Operations (ATLO), seven months of cruise and about eleven months of surface operations. The Battery Control Boards designed and fabricated in-house would protect cells against overcharge and over-discharge and provide cell balance. Their performance has thus far been quite satisfactory. The ground data o the mission simulation battery project little capacity loss of less than 3% during cruise and 180 sols. Batteries are poised to extend the mission beyond six months, if not a couple of years.

Ewell, R.↗
NASA NTRS2006

Possible Ni-Rich Mafic-Ultramafic Magmatic Sequence in the Columbia Hills: Evidence from the Spirit Rover

The Spirit rover landed on geologic units of Hesperian age in Gusev Crater. The Columbia Hills rise above the surrounding plains materials, but orbital images show that the Columbia Hills are older [1, 2]. Spirit has recently descended the southeast slope of the Columbia Hills doing detailed measurements of a series of outcrops. The mineralogical and compositional data on these rocks are consistent with an interpretation as a magmatic sequence becoming increasingly olivine-rich down slope. The outcrop sequence is Larry s Bench, Seminole, Algonquin and Comanche. The "teeth" on the Rock Abrasion Tool (RAT) wore away prior to arrival at Larry s Bench; the data discussed are for RAT brushed surfaces.

Mittlefehldt, David W.↗
NASA NTRS2006

The Incredible Diversity of Fe-bearing Phases at Gusev Crater, Mars, According to the Mars Exploration Rover Moessbauer Spectrometer

The Mars Exploration Rover (MER) Spirit landed on the plains of Gusev Crater on 4 January 2004. One primary scientific objective for the mission is to characterize the mineralogical and elemental composition of surface materials, searching for evidence of water and clues for assessing past and current climates and their suitability for life [1]. The role of the Moessbauer (MB) spectrometer on Spirit is to provide quantitative information about the distribution of Fe among its oxidation and coordination states, identification of Fe-bearing phases, and relative distribution of Fe among those phases. The speciation and distribution of Fe in Martian rock and soil constrains the primary rock types, redox conditions under which primary minerals crystallized, the extent of alteration and weathering, the type of alteration and weathering products, and the processes and environmental conditions for alteration and weathering. In this abstract, we discuss the incredible diversity of Fe-bearing phases detected by Spirit s MB instrument during its first 540 sols of exploration at Gusev crater [2,3].

Morris, R. V.↗
NASA NTRS2008

Targeting and Localization for Mars Rover Operations

A design and a partially developed application framework were presented for improving localization and targeting for surface spacecraft. The program has value for the Mars Science Laboratory mission, and has been delivered to support the Mars Exploration Rovers as part of the latest version of the Maestro science planning tool. It also has applications for future missions involving either surface-based or low-altitude atmospheric robotic vehicles. The targeting and localization solutions solve the problem of how to integrate localization estimate updates into operational planning tools, operational data product generalizations, and flight software by adding expanded flexibility to flight software, the operations data product pipeline, and operations planning tools based on coordinate frame updates during a planning cycle.

Powell, Mark W.↗
NASA NTRS2008

Polar Traverse Rover Instrument

A Polar Traverse Rover (PTR) is a device designed to determine the role of Antarctica in the global climate system by determining typical paths of continental air that passes the South Pole, and by obtaining insight into the relationship between events at the Antarctic and the meteorology of sub-polar altitudes. The PTR is a 2-m-diameter ball in which an Iridium modem, with an integrated global positioning system (GPS) receiver and a commercial lithium battery pack, is suspended. The modem is attached to an aluminum plate and is surrounded by shock-absorbing plastic for protection. This core is attached to the interior walls of the shell by strings on three axis points. The unit s total weight is 10 kg, and it returns data regarding location, altitude, ground velocity, and vertical velocity. The PTR traverses the terrain solely through being blown around by the wind. The unit is much lighter than its predecessor, the Tumbleweed, and requires less wind to put it in motion and to sustain motion. The system is autonomous, requiring minimal monitoring, and enables long-range, unmanned scientific surface surveys in harsh environments.

Karlsson, Henrik↗
NASA NTRS2004

Mars Exploration Rover Mission: Entry, Descent, and Landing System Validation

System validation for a Mars entry, descent, and landing system is not simply a demonstration that the electrical system functions in the associated environments. The function of this system is its interaction with the atmospheric and surface environment. Thus, in addition to traditional test-bed, hardware-in-the-loop, testing, a validation program that confirms the environmental interaction is required. Unfortunately, it is not possible to conduct a meaningful end-to-end test of a Mars landing system on Earth. The validation plan must be constructed from an interconnected combination of simulation, analysis and test. For the Mars Exploration Rover mission, this combination of activities and the logic of how they combined to the system's validation was explicitly stated, reviewed, and tracked as part of the development plan.

system validation↗
NASA NTRS2009

Techniques and Results for Determining Window Placement and Configuration for the Small Pressurized Rover (SPR)

A natural component to driving any type of vehicle, be it Earth-based or space-based, is visibility. In its simplest form visibility is a measure of the distance at which an object can be seen. With the National Aeronautics and Space Administration s (NASA) Space Shuttle and the International Space Station (ISS), there are human factors design guidelines for windows. However, for planetary exploration related vehicles, especially land-based vehicles, relatively little has been written on the importance of windows. The goal of the current study was to devise a proper methodology and to obtain preliminary human-in-the-loop data on window placement and location for the small pressurized rover (SPR). Nine participants evaluated multiple areas along the vehicle s front "nose", while actively maneuvering through several lunar driving simulations. Subjective data was collected on seven different aspects measuring areas of necessity, frequency of views, and placement/configuration of windows using questionnaires and composite drawings. Results indicated a desire for a large horizontal field-of-view window spanning the front of the vehicle for most driving situations with slightly reduced window areas for the lower front, lower corners, and side views.

Thompson, Shelby↗
NASA NTRS2009

Mars Exploration Rover Flight Operations Technical Consultation

The Mars Exploration Rover (MER) Project at the Jet Propulsion Laboratory developed two golf-cart size robotic vehicles, Spirit and Opportunity, for geological exploration of designated target areas on the surface of Mars. The primary scientific objective of these missions was the search for evidence of the presence of water on or near the surface of the planet during its history. Spirit and Opportunity were launched on June 10 and July 7, 2003, with their respective landings scheduled for January 4 and January 25, 2004 (UTC). NASA views the MER missions as particularly critical because of their scientific importance in the ongoing search for conditions under which life might have existed elsewhere in the solar system, because of their high level of public interest and because more than half of all prior missions launched to Mars internationally have failed. This report summarizes the findings and recommendations of the NASA Engineering and Safety Center review of the project.

Leckrone, Dave S.↗
NASA NTRS2007

A Wheel-On-Limb Rover for Lunar Operations

The All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) is a new mobility platform developed for potential lunar operations. This six limbed rover is designed to traverse quickly over benign terrain by rolling, traverse rough and steep terrain by walking, as well as perform general manipulation of tools and payloads. This flexible robotic platform will provide a mobile base for pressurized lunar habitats allowing for long range surface exploration and crew transport. It will also enable in-situ construction of lunar assets providing astronauts with the ability to assemble, maintain, and service a wide range of cargo. This paper presents the design details and capabilities of this wheel-on-limb platform.

ATHLETE↗