FIDO: Enabling Mars 2003 and 2005 Rover Science Operations
Explore the source record for details and available documents.
Mars Rover FIDO↗
SEARCH · Engineering Papers
Results for “Mars Rovers”
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
Activity Scratchpad Prototype: Simplifying the Rover Activity Planning Cycle
The Mars Exploration Rover mission depends on the Science Activity Planner as its primary interface to the Spirit and Opportunity Rovers. Scientists alternate between a series of mouse clicks and keyboard inputs to create a set of instructions for the rovers. To accelerate planning by minimizing mouse usage, a rover planning editor should receive the majority of inputted commands from the keyboard. Thorough investigation of the Eclipse platform's Java editor has provided the understanding of the base model for the Activity Scratchpad. Desirable Eclipse features can be mapped to specific rover planning commands, such as auto-completion for activity titles and content assist for target names. A custom editor imitating the Java editor's features was created with an XML parser for experimenting purposes. The prototype editor minimized effort for redundant tasks and significantly improved the visual representation of XML syntax by highlighting keywords, coloring rules, folding projections, and providing hover assist, templates and an outline view of the code.
Abramyan, Lucy↗
Rovers in the U.S. Mars Exploration Program
The U.S. Mars Exploration Program comprises at least on Discovery mission (Mars Pathfinder), and Mars Surveyor Program, plus sample return missions and other missions to prepare for possible human expeditions to Mars. The original themes of the Mars Surveyor Program (which are still the official program goals) are to understand Life, Climate and Resources on Mars, with these themes tied together by the common thread of Water. The ability to move about the Martian surface is key to the Mars Exploration Program. This paper addresses the overall Mars Exploration Program strategy, with an emphasis of the role of rovers in the program. Specifically, the need for improvements in rover performance is addressed.
Mars Global Surveyor MGS martian surface cost-cons↗
Science Activity Planner for the MER Mission
The Maestro Science Activity Planner is a computer program that assists human users in planning operations of the Mars Explorer Rover (MER) mission and visualizing scientific data returned from the MER rovers. Relative to its predecessors, this program is more powerful and easier to use. This program is built on the Java Eclipse open-source platform around a Web-browser-based user-interface paradigm to provide an intuitive user interface to Mars rovers and landers. This program affords a combination of advanced display and simulation capabilities. For example, a map view of terrain can be generated from images acquired by the High Resolution Imaging Science Explorer instrument aboard the Mars Reconnaissance Orbiter spacecraft and overlaid with images from a navigation camera (more precisely, a stereoscopic pair of cameras) aboard a rover, and an interactive, annotated rover traverse path can be incorporated into the overlay. It is also possible to construct an overhead perspective mosaic image of terrain from navigation-camera images. This program can be adapted to similar use on other outer-space missions and is potentially adaptable to numerous terrestrial applications involving analysis of data, operations of robots, and planning of such operations for acquisition of scientific data.
Norris, Jeffrey S.↗
Performance Characteristics of Lithium Ion Prototype Cells for 2003 Mars Sample Return Athena Rover
A viewgraph presentation outlines the mission objectives and power subsystem for the Mars Sample Return (MSR) Athena Rover. The NASA-DOD (depth of discharge) Interagency Li Ion program objectives are discussed. Evaluation tests performed at JPL are listed, and test results are shown for the Li-Ion cell initial capacity, charge/discharge capacity, voltage and ratio, specific energy, watt-hour efficiency, and cell voltage at various temperatures.
Ratnakumar, B. V.↗
Mars' Surface Radiation Environment Measured with the Mars Science Laboratory's Curiosity Rover
The Radiation Assessment Detector (RAD) on the Mars Science Laboratorys Curiosity rover beganmaking detailed measurements of the cosmic ray and energetic particle radiation environmenton the surface of Mars on 7 August 2012. We report and discuss measurements of the absorbeddose and dose equivalent from galactic cosmic rays and solar energetic particles on the martiansurface for 300 days of observations during the current solar maximum. These measurementsprovide insight into the radiation hazards associated with a human mission to the surface of Marsand provide an anchor point with which to model the subsurface radiation environment, withimplications for microbial survival times of any possible extant or past life, as well as for thepreservation of potential organic biosignatures of the ancient martian environment.
radiation environment↗
Performance characteristics of lithium-ion cells for Mars Sample Return Athena Rover
In this paper, we will present several performance characterization tests, including cycle life at different temperatures, rate capability at various charge/discharge rates and temperatures and real tim and accelerated storage, which were carried out on these prototype cells in support of the Mars exploration missions.
lithium↗
Student Interns Work on Mars
The exceptional imagery and data acquired by the Mars Exploration Rovers since their January 2004 landing have captured the attention of scientists, the public, and students and teachers worldwide. One aspect of particular interest lies with a group of high school teachers and students actively engaged in the Athena Student Interns Program. The Athena Student Interns Program (ASIP) is a joint effort between NASA s Mars Public Engagement Office and the Athena Science Investigation that began in early 1999 as a pilot student-scientist research partnership program associated with the FIDO prototype Mars rover field test . The program is designed to actively engage high school students and their teachers in Mars exploration and scientific inquiry. In ASIP, groups of students and teachers from around the country work with mentors from the mission s Athena Science Team to carry out an aspect of the mission.
Bowman, C. D.↗
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.↗
Martian Dust Simulator
The Martian Dust Simulator (MDS) was designed to investigate the contamination effects of Martian soil and rock on the performance and function of flight-like microvalves and flight-like filters located within the Sample Analysis at Mars (SAM) instrument suite. The SAM instrument suite, which houses over fifty percent of the science payload, is located on-board the Mars exploration rover. The mission objective of the Mars Science Laboratory Rover is to determine the past, present, and future habitability of Mars. It will serve as a robot geologist, traveling the Mars surface for a period of one Martian year (equivalent to two earth years). The microvalves were designed as a conduit to control the flow of Martian gas to the science instruments. If exposed to particle sizes greater than half a micron, both the science instruments and science equipment, including forty-seven microvalves, could experience performance degradation. As a result, filters were used at various gas inlets to protect flight hardware from particulate degradation. Additionally, the filters serve as the only interface between the Martian environment and the mechanisms within SAM. The MDS operates at 7 Torr (0.135 psi) with a gas flow rate of 0 to 20 m/s. Iron (III) Oxide was the only dust particle specimen used, although several others were initially considered (i.e. JSC-Mars-1, Corundum Powder (Al2O3), Hydrated Sulfate, and Belville (Basalt)). The overarching goal of the MDS is to demonstrate that the Mars exploration program is adequately designed and prepared for the Martian mission environment.
Zuray, Monica↗
Deep Space Network Capabilities for Receiving Weak Probe Signals
Planetary probes can encounter mission scenarios where communication is not favorable during critical maneuvers or emergencies. Launch, initial acquisition, landing, trajectory corrections, safing. Communication challenges due to sub-optimum antenna pointing or transmitted power, amplitude/frequency dynamics, etc. Prevent lock-up on signal and extraction of telemetry. Examples: loss of Mars Observer, nutation of Ulysses, Galileo antenna, Mars Pathfinder and Mars Exploration Rovers Entry, Descent, and Landing, and the Cassini Saturn Orbit Insertion. A Deep Space Network capability to handle such cases has been used successfully to receive signals to characterize the scenario. This paper will describe the capability and highlight the cases of the critical communications for the Mars rovers and Saturn Orbit Insertion and preparation radio tracking of the Huygens probe at (non-DSN) radio telescopes.
Asmar, Sami↗
New Planetary Rovers for Long Range Mars Science and Sample Return
There are significant international efforts underway to place mobile robots (rovers) on the surface of Mars.
sample return planetary science↗
Astrobiological Potential of Rocks Acquired By the Perseverance Rover in Jezero Crater, Mars
The scientific community has prioritized the return of Martian rock samples with known geologic context for more than a decade (Beatty et al., 2019). Thus, the main objectives of the Perseverance rover mission on Mars include identifying past habitable environments, collecting rocks that are likely to preserve biosignaturesand using the rover’s instruments to look for potential biosignatures in these rocks (Farley et al., 2020). Here, we present an overview of the bedrock samples collected bythe Perseverance rover in Jezero crater to date and discuss the potential of the sampled materials to address astrobiological questions upon sample return to Earth.
Mars 2020↗
NASA Tech Briefs, September 2007
Topics covered include; Rapid Fabrication of Carbide Matrix/Carbon Fiber Composites; Coating Thermoelectric Devices To Suppress Sublimation; Ultrahigh-Temperature Ceramics; Improved C/SiC Ceramic Composites Made Using PIP; Coating Carbon Fibers With Platinum; Two-Band, Low-Loss Microwave Window; MCM Polarimetric Radiometers for Planar Arrays; Aperture-Coupled Thin-Membrane L-Band Antenna; WGM-Based Photonic Local Oscillators and Modulators; Focal-Plane Arrays of Quantum-Dot Infrared Photodetectors; Laser Range and Bearing Finder With No Moving Parts; Microrectenna: A Terahertz Antenna and Rectifier on a Chip; Miniature L-Band Radar Transceiver; Robotic Vision-Based Localization in an Urban Environment; Programs for Testing an SSME-Monitoring System; Cathodoluminescent Source of Intense White Light; Displaying and Analyzing Antenna Radiation Patterns; Payload Operations Support Team Tools; Space-Shuttle Emulator Software; Soft Real-Time PID Control on a VME Computer; Analyzing Radio-Frequency Coverage for the ISS; Nanorod-Based Fast-Response Pressure-Sensitive Paints; Capacitors Would Help Protect Against Hypervelocity Impacts; Diaphragm Pump With Resonant Piezoelectric Drive; Improved Quick-Release Pin Mechanism; Designing Rolling-Element Bearings; Reverse-Tangent Injection in a Centrifugal Compressor; Inertial Measurements for Aero-assisted Navigation (IMAN); Analysis of Complex Valve and Feed Systems; Improved Path Planning Onboard the Mars Exploration Rovers; Robust, Flexible Motion Control for the Mars Explorer Rovers; Solar Sail Spaceflight Simulation; Fluorine-Based DRIE of Fused Silica; Mechanical Alloying for Making Thermoelectric Compounds; Process for High-Rate Fabrication of Alumina Nanotemplates; Electroform/Plasma-Spray Laminates for X-Ray Optics; An Automated Flying-Insect Detection System; Calligraphic Poling of Ferroelectric Material; Blackbody Cavity for Calibrations at 200 to 273 K; KML Super Overlay to WMS Translator; High-Performance Tiled WMS and KML Web Server; Modeling of Radiative Transfer in Protostellar Disks; Composite Pulse Tube; Photometric Calibration of Consumer Video Cameras; Criterion for Identifying Vortices in High- Pressure Flows; Amplified Thermionic Cooling Using Arrays of Nanowires; Delamination-Indicating Thermal Barrier Coatings; Preventing Raman Lasing in High-Q WGM Resonators; Procedures for Tuning a Multiresonator Photonic Filter; Robust Mapping of Incoherent Fiber-Optic Bundles; Extended-Range Ultrarefractive 1D Photonic Crystal Prisms; Rapid Analysis of Mass Distribution of Radiation Shielding; Modeling Magnetic Properties in EZTB; Deep Space Network Antenna Logic Controller; Modeling Carbon and Hydrocarbon Molecular Structures in EZTB; BigView Image Viewing on Tiled Displays; and Imaging Sensor Flight and Test Equipment Software.
Source record↗
Platform for Testing Robotic Vehicles on Simulated Terrain
The variable terrain tilt platform (VTTP) is a means of providing simulated terrain for mobility testing of engineering models of the Mars Exploration Rovers. The VTTP could also be used for testing the ability of other robotic land vehicles (and small vehicles in general) to move across terrain under diverse conditions of slope and surface texture, and in the presence of obstacles of various sizes and shapes. The VTTP consists mostly of a 16-ft-(4.88-m)-square tilt table. The tilt can be adjusted to any angle between 0 (horizontal) and 25 . The test surface of the table can be left bare; can be covered with hard, high-friction material; or can be covered with sand, gravel, and/or other ground-simulating material or combination of materials to a thickness of as much as 6 in. (approx. 15 cm). Models of rocks, trenches, and other obstacles can be placed on the simulated terrain. For example, for one of the Mars- Rover tests, a high-friction mat was attached to the platform, then a 6-in.- ( 15 cm) deep layer of dry, loose beach sand was deposited on the mat. The choice of these two driving surface materials was meant to bound the range of variability of terrain that the rover was expected to encounter on the Martian surface. At each of the different angles at which tests were performed, for some of the tests, rocklike concrete obstacles ranging in height from 10 to 25 cm were placed in the path of the rover (see figure). The development of the VTTP was accompanied by development of a methodology of testing to characterize the performance and modes of failure of a vehicle under test. In addition to variations in slope, ground material, and obstacles, testing typically includes driving up-slope, down-slope, cross-slope, and at intermediate angles relative to slope. Testing includes recording of drive-motor currents, wheel speeds, articulation of suspension mechanisms, and the actual path of the vehicle over the simulated terrain. The collected data can be used to compute curves that summarize torque, speed, power-demand, and slip characteristics of wheels during the traverse.
Lindemann, Randel↗
Understanding Martian Alteration Processes by Comparing In-Situ Chemical Measurements from Multiple Landing Sites
Characterizing the history of aqueous activity at the martian surface has been an objective of the Mars Exploration Rovers (MER) and the Mars Science Laboratory (MSL). Although the geologic context of the three landing sites are different, comparisons across the datasets can provide greater insight than using data from one mission alone. The Alpha Particle X-ray Spectrometer (APXS) is common to all three rovers (Spirit at Gusev crater, Opportunity at Meridiani Planum, and Curiosity at Gale crater) and provides a consistent basis for these comparisons. Soil and Dust: Fine grained basaltic soils and dust are remarkably uniform in chemical composition across multiple landing sites. These similarities in the concentrations of major, minor, and a few trace elements (Fig. 1) are indicative of planet-wide consistency in the composition of source materials for the soils. S and Cl vary by a factor of two in the soil and dust, but there is no clear association with any bulk cation (e.g., no correlation between S and total Ca, Mg, or Fe in soils). These volatile elements, however, are clearly associated with the nanophase-ferric iron component in the soil established by Mössbauer spectroscopy [1,2]. S and Cl likely originated as acidic species from volcanic out-gassing and subsequently coalesced on dust and sand grain surfaces, possibly with an affinity towards Fe3+ sites. Importantly, given the mobility of S and Cl in aqueous exposures, soil samples maintaining the typical molar S/Cl ratio of ~3.7:1 indicate minimal interactions with liquid water after the addition of S and Cl. In contrast to this well-established baseline, soil samples have been discovered at all three landing sites with atypical S/Cl ratios (e.g., subsurface soils), indicative of a more complex aqueous history.
Yen, A. S.↗
Chromatographic, Spectroscopic and Mass Spectrometric Approaches for Exploring the Habitability of Mars in 2012 and Beyond with the Curiosity Rover
The Sample Analysis at Mars (SAM) suite of instruments on the Curiosity Rover of Mars Science Laboratory Mission is designed to provide chemical and isotopic analysis of organic and inorganic volatiles for both atmospheric and solid samples. The goals of the science investigation enabled by the gas chromatograph mass spectrometer and tunable laser spectrometer instruments of SAM are to work together with the other MSL investigations is to quantitatively assess habitability through a series of chemical and geological measurements. We describe the multi-column gas chromatograph system employed on SAM and the approach to extraction and analysis of organic compounds that might be preserved in ancient martian rocks.
Mahaffy, Paul↗
Improving Slip Prediction on Mars Using Thermal Inertia Measurements
Rovers operating on Mars have been delayed, diverted, and trapped by loose granular materials. Vision-based mobility prediction approaches often fail because hazardous sand is difficult to distinguish from safe sand based on surface appearance alone. Unlike surface appearance, the thermal inertia of terrain is directly correlated to the same geophysical properties that control slip. This paper presents a quantitative analysis showing that considering thermal inertia improves rover slip prediction on Mars using in-situ data from the Curiosity rover. Thermal inertia is estimated for each slip measurement in sand using both on-board and orbital instruments. Slip models are learned using a mixture of experts approach where the experts are identified using thermal inertia. Two-expert models are compared to a single-expert, vision-only model to show that slip predictions are improved by separating high-slip, low thermal inertia sand from low-slip, high thermal inertia sand. These results support the hypothesis that the consideration of thermal inertia improves mobility estimates for rovers on Mars.
Nesnas, Issa A.↗