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The Mars Pathfinder Mission was a great engineering achievement for the National Aeronautics and Space Administration (NASA) and the Jet Propulsion Laboratory (JPL) which built the Pathfinder Spacecraft and the Sojourner Rover. The mechanical design of the mission hardware was critical to the success of the complex entry sequence and landed operations.
The rovers of the National Aeronautics and Space Administration’s (NASA) Mars Exploration Rovers (MER) project, Spirit (MER-A) and Opportunity (MER-B), safely landed on the surface of Mars three weeks apart during January 2004. Spirit and Opportunity were built and operated by the Jet Propulsion Laboratory (JPL), which is managed by the California Institute of Technology (Caltech) for NASA. Spirit landed at Gusev Crater, 14.8 degrees south of the equator, and operated continuously on the surface of Mars from January 4, 2004 until last contact from Spirit on March 22, 2010. Opportunity landed at Meridiani Planum, a location 2.5 degrees south of the Martian equator. Opportunity operated continuously on the Martian surface from January 25, 2004 until the last received transmission from Opportunity on June 10, 2018. The goal of the MER project was to determine if Mars ever had a habitable environment, in particular, if it ever had water. During their missions, both Spirit and Opportunity found evidence that liquid water once flowed on the surface of Mars. Both Spirit and Opportunity used a 1.33 m2 triple-junction solar array as their power sources. Based on observations of the original Mars rover, the Sojourner rover of the Mars Pathfinder mission that landed on Mars on July 4, 1997, the expectation was that the Martian dust would rapidly accumulate on the solar arrays of Spirit and Opportunity, and that the rovers would not have enough energy to continue operations after 90 Martian days (sols). Instead, due in part to lower dust accumulation rates than expected and numerous dust cleaning events, the Spirit and Opportunity rovers continued to operate on the Martian surface for over 2000 sols (MER-A) and 5000 sols (MER-B), respectively. During this time, the rovers experienced multiple Martian winters and several dust storms. Because the sources of solar array energy loss were known, the solar array energy output offered a method to scientifically estimate the loading and aeolian removal of dust from the solar arrays each sol. The MER Power operations team called this value that they calculated the solar array Dust Factor (DF). Dust Factor was defined as the fraction of sunlight that penetrates the accumulated dust on the surface of the solar array. A Dust Factor of 1.0 would indicate that the solar array was perfectly clean. A Dust Factor of 0.6 would indicate that only 60% of the available sunlight was able to penetrate the accumulated dust on the solar arrays. The MER Power subsystem operations team used the Multi-Mission Power Analysis Tool (MMPAT) to perform these Dust Factor calculations. The MMPAT software tool modeled the behavior of the solar arrays and the batteries as they interacted with the spacecraft power loads over the mission timeline. MMPAT also had knowledge (through telemetry and user inputs) of telemetered Power subsystem voltages and currents, atmospheric opacity (Tau), rover surface location, rover attitude, the planetary tilt and distance of Mars from the sun based on day of year, the instantaneous elevation of the sun based on time of day, temperatures (internal and external), terrain masking, and shadowing (due to the camera mast and antennas). Once all of the known sources of array energy loss are accounted, the remaining difference between the expected array energy and the actual array energy determines the solar array Dust Factor. The assumptions made while determining the Dust Factor are 1) that the single measured atmospheric opacity value (Tau) is constant over the course of the entire sol, 2) there is no measurable solar cell degradation, 3) there are no shorted strings and therefore, 4) all unexpected solar array energy losses are due to accumulated dust on the solar array. Although it cannot provide an absolute measure of dust loading, the determination of solar array Dust Factor provides a useful way of tracking dust accumulation and aeolian dust removal trends on Martian spacecraft. Any spacecraft on the Martian surface is vulnerable to dust, especially solar-powered spacecraft. The Spirit and Opportunity rovers were operational on the Martian surface for much longer than expected due in part to aeolian removal of dust from their solar arrays. The first few dust removal events were a pleasant surprise to the MER operations teams; however, over time a pattern began to arise. In over three Mars Years on the surface, the Power operations team tracked the solar array Dust Factor at Gusev Crater (location of MER-A) and observed that there were several significant dust removal and deposition events in Mars Year (MY) 27, even in the absence of a large dust storm. In MY 28 at Gusev Crater, the large atmospheric opacity (Tau) increase lagged significant dust removal events. Overall at Gusev Crater, there was a pattern of steady dust accumulation on the solar arrays, with a small number of significant dust cleaning events. At Meridiani Planum, where Opportunity rover operated for over seven Mars Years (late MY 26 to mid MY 34), a clear and consistent pattern of dust movement emerged. Meridiani Planum had a predictable, seasonally dependent pattern of gradual and continuous dust accumulation and removal. In summary, this paper explains the reasons for the development of the solar array Dust Factor and how it was used in mission operations. In particular, this paper describes the MMPAT software package, how it models array energy, including the important assumptions, model inputs and sources of error. And finally, this paper will show how the calculated solar array Dust Factor was used at Gusev Crater and Meridiani Planum to predict dust accumulation rates and weather patterns, and the importance of this generated data set for current and future solar- powered missions to Mars, such as the InSight lander and the planned Mars Sample Return rover.
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This paper describes navigation results obtained in the field tests and shows that accurated heading estimation provides a significant improvement over previous results.
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The Microrover Flight Experiment (MFEX) is a NSAS OACT (Office of Advanced Concepts and Technology) flight experiment which, integrated with the Mars Pathfinder (MPF) lander and spacecraft system, landed on Mars on July 4, 1997.
Planetary scientist have a unique problem when collecting data for their subject: in the absence of an interplanetary manned space program, they must rely upon remote sensing techniques. An invaluable part of their arsenal is spacecraft which can study the region of interest in detail.
Mars Pathfinder is the second spacecraft to be developed as a NASA Discovery mission. Pathfinder employed unique innovations throughout the entire spacecraft that allowed mission development to be accomplished within the 3 year design schedule and $150 million (FY '92 dollars) cost constraint imposed under the Discovery classification.
This paper provides an overview of the design of the Mars Pathfinder Microrover with an emphasis on how its integrated design enables it to perform all of the functions normally associated with entire spacecraft. The impact that mass, volume, and power constraints have had upon the design will also be discussed.
The Mars Pathfinder mission required new capabilities and adaptation of existing capabilities in order to support science analysis and flight operations requirements imposed by the in-situ nature of the mission.
The development of a new launch vehicle to support NASA's future exploration plans requires significant redesign and upgrade of Kennedy Space Center's (KSC) launch pad and ground support equipment systems. In many cases, specialized test equipment and systems will be required to certify the function of the new system designs under simulated operational conditions, including propellant loading. This paper provides an overview of the cryogenic test infrastructure that is in place at KSC to conduct development and qualification testing that ranges from the component level to the integrated-system level. An overview of the major cryogenic test facilities will be provided, along with a detailed explanation of the technology focus area for each facility
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On July 4th, 1997, Mars Pathfinder became the third spacecraft to successfully land on the planet Mars. The mission's primary objective was to demonstrate a low-cost system for delivering a small science payload to the surface of Mars, and to test the operation of a rover.
Mars Pathfinder successfully landed on the surface of Mars on July 4, 1997, and ushered in a new era in Mars exploration. This era will feature numberous low cost missions which will perform important science investigations and engage the world's population in the excitement of planetary exploration.