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Planetary surface exploration MESUR/autonomous lunar rover

Planetary surface exploration micro-rovers for collecting data about the Moon and Mars have been designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA/Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental Survey (MESUR) Alpha Particle/Proton/X-ray (APX) Instrument. The system is to be launched with the 16 MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker have been developed to deploy the APX from the lander to the Martian Surface. While on Mars, the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation that NASA can use for future lunar exploratory missions. This report includes a detailed description of the designs and the methods and procedures which the University of Idaho design teams followed to arrive at the final designs.

Stauffer, Larry↗

Thermal Protection System Evaluation Using Arc-jet Flows: Flight Simulation or Research Tool?

The arc-jet has been used to evaluate thermal protection systems (TPS) and materials for the past forty years. Systems that have been studied in this environmerd include ablators, active, and passive TPS concepts designed for vehicles entering planetary and Earth atmospheres. The question of whether arc-jet flow can simulate a flight environment or is it a research tool that provides an aero-thermodynamic heating environment to obtain critical material properties will be addressed. Stagnation point tests in arc-jets are commonly used to obtain material properties such as mass loss rates, thermal chemical stability data, optical properties, and surface catalytic efficiency. These properties are required in computational fluid dynamic codes to accurately predict the performance of a TPS during flight. Special facilities have been developed at NASA Ames Research Center to approximate the flow environment over the mid-fuselage and body flap regions of proposed space-planes type vehicles. This paper compares flow environments generated in flight over a vehicle with those created over an arc-jet test articles in terms of scale, chemistry, and fluid dynamic properties. Flight experiments are essential in order to validate the material properties obtained from arc-jet tests and used to predict flight performance of any TPS being considered for use on a vehicle entering the Earth atmosphere at hypersonic speed.

Stewart, David A.↗

Geology Before Pluto: Pre-Encounter Considerations

Pluto, its large satellite Charon, and its four known satellites represent the first trans-Neptunian Kuiper Belt objects populating the outer-most solar system beyond the gas giant planets to be studied in detail from a spacecraft (New Horizons). A complete picture of the solar nebula, and solar system formation cannot be confidently formulated until representatives of this group of bodies at the edge of solar space have been examined. The Pluto system is composed of unique lunar- and intermediate-sized objects that can tell us much about how objects with volatile icy compositions evolve. Modeling of the interior suggests that geologic activity may have been to some degree, and observations of frost on the surface could imply the need for a geologic reservoir for the replenishment of these phases. However, the putative indicators of Pluto's geologic history are inconclusive and unspecific. Detailed examination of Pluto's geologic record is the only plausible means of bridging the gap between theory and observations. In this talk I will examine the potential importance of these tentative indications of geologic activity and how specific spacecraft observations have been designed and used to constrain the Pluto system's geologic history. The cameras of New Horizons will provide robust data sets that should be immanently amenable to geological analysis of the Pluto System's landscapes. In this talk, we begin with a brief discussion of the planned observations by New Horizons' cameras that will bear most directly on geological interpretability. Then I will broadly review major geological processes that could potentially operate of the surfaces of Pluto and its moons. I will first survey exogenic processes (i.e., those for which energy for surface modification is supplied externally to the planetary surface): impact cratering, sedimentary processes (including volatile migration) and the work of wind. I will conclude with an assessment of prospects for endogenic activity in the form of tectonics and cryo-volcanism.

Pluto↗

Embedded Data Acquisition Tools for Rotorcraft Diagnostic Sensors

Rotorcraft drive trains must withstand enormous pressure while operating continuously in extreme temperature and vibration environments. Captive components, such as planetary and spiral bevel gears, see enormous strain but are not accessible to fixed instrumentation, such as a piezoelectric transducer. Thus, it is difficult to directly monitor components that are most susceptible to damage. This innovation is a self-contained data processing unit within a specialized fixture that installs directly inside the rotating pinion gear in the gearbox. From this location, it detects and transmits high-resolution prognostic data to a fixed transceiver. The sensor is based on microelectromechanical systems (MEMS) technology and uses innovative circuit designs to capture high-bandwidth data and transmit it wirelessly from inside an operational helicopter transmission. With Ridgetop's advanced MEMS-based sensor, researchers have, for the first time, been able to extract high-resolution acoustic signatures wirelessly from sensors within the transmission that would otherwise be muffled by background gear noises. Ridgetop's innovative instrument will help researchers perform dynamic analysis of gear interaction and develop improved designs for gear components. In addition, data from this instrument can be used to validate new algorithms that detect and predict faults based on external acoustic signatures, for prognostic purposes. The result of this work will be an improvement in safety, performance, and cost for future generations of rotating components.

Wagoner, Robert↗

The Search for Lunar Mantle Rocks Exposed on the Surface of the Moon

The lunar surface is ancient and well-preserved, recording Solar System history and planetary evolution processes. Ancient basin-scale impacts excavated lunar mantle rocks, which are still expected to be present on the surface. Sampling these rocks would provide insight into fundamental planetary processes, including differentiation and magmatic evolution. There is contention among lunar scientists as to what lithologies make up the upper lunar mantle, and where they may have been exposed on the surface. We review dynamical models of lunar differentiation in the context of recent experiments and spacecraft data, assessing candidate lithologies, their distribution, and implications for lunar evolution.

Geochemistry↗

Observational studies of the clearing phase in proto-planetary disk systems

Progress in this study is summarized for its second year. An extensive program of high dispersion UV spectral studies using the IUE (International Ultraviolet Explorer) has resulted in acquisition of 40 Herbig Ae/Be star and related object spectra. We find that accreting, circumstellar gas is detected with velocities consistent with material in free-fall toward the stars in approximately 38% of the sample. With acquisition of optical measurements of the projected stellar rotational velocities, we find that the systems with accreting gas exhibit systematically higher projected rotational velocities than the systems showing signatures of outflowing material only. When combined with polarimetric and photometric data, the IUE spectra for these stars indicate that accretion in intermediate-mass pre-main sequence stars is confined to the plane of the circumstellar dust disk. This is in contrast to lower-mass PMS stars where accretion, persumably along magnetic field lines, is seen at polar latitudes. Our data also support significant clearing of the central regions of these circumstellar disks, as originally suggested. The model which most closely matches the observational data is accretion from a disk envelope, as developed by Calvet et al. (1994).

Grady, Carol A.↗

Lunar targeting study: Lunar and planetary Ephemeris tapes

The Univac 1108 computer tape data formats are documented for the ephermeris tape generated by the Jet Propulsion Laboratory and the ephemeris tape used by the Quick Response Targeting Program (QRTP). Ephermeris tapes are used as the data source for the position and velocity components of those celestial bodies being considered in an integrated trajectory simulation program. The QRTP ephemeris tape has data only for lunar mission simulations. The JPL ephemeris tape has data for the moon and the nine planets. The ephemeris tapes, the data formats, the coordinate systems, and units are defined. The transformation from the mean-of-1950 coordinate system to the nearest mean Besselian year is given.

Green, W. G.↗

OGLE-2017-BLG-0406: Spitzer Microlens Parallax Reveals Saturn-mass Planet Orbiting M-dwarf Host in the Inner Galactic Disk

We report the discovery and analysis of the planetary microlensing event OGLE-2017-BLG-0406, which was observed both from the ground and by the Spitzer satellite in a solar orbit. At high magnification, the anomaly in the light curve was densely observed by ground-based-survey and follow-up groups, and it was found to be explained by a planetary lens with a planet/host mass ratio of q=7.0×10{sup −4} from the light-curve modeling. The ground-only and Spitzer-“only” data each provide very strong one-dimensional (1D) constraints on the 2D microlens parallax vector π{sub E}. When combined, these yield a precise measurement of π{sub E} and of the masses of the host M{sub host}=0.56±0.07 M{sub ⊙} and planet M {sub planet} = 0.41 ± 0.05 M {sub Jup}. The system lies at a distance D {sub L} = 5.2 ± 0.5 kpc from the Sun toward the Galactic bulge, and the host is more likely to be a disk population star according to the kinematics of the lens. The projected separation of the planet from the host is a{sub ⊥}=3.5±0.3 au (i.e., just over twice the snow line). The Galactic-disk kinematics are established in part from a precise measurement of the source proper motion based on OGLE-IV data. By contrast, the Gaia proper-motion measurement of the source suffers from a catastrophic 10σ error.

79 ASTRONOMY AND ASTROPHYSICS↗

Long-term risk analysis associated with nuclear waste disposal in space

An assessment and verification of previous analytic results on the long term risk of earth reentry for hazardous payloads is presented. The two areas were studied: (1) stability of nominal, near-circular storage orbits in the regions between Venus and earth and between earth and Mars, and (2) probability of earth reentry for off-nominal planet-crossing orbits resulting from deployment system failures. In the first area, numerical integrations of the equations of motion are compared with stability predications based on secular perturbation theory. The agreement is good in terms of the heliocentric distances covered and the general behavior of the orbital history, although certain near-resonance situations can lead to difficulty. In the second area, a Monte Carlo simulation of orbital evolution is used and the results compared with Opik's analytic theory of planetary encounters and collision statistics, with data verified to within a close order-of-magnitude.

Friedlander, A. L.↗

The Lidar In-Space Technology Experiment (LITE)

A spaceborne lidar system is presently being constructed for flight aboard the U. S. Space Shuttle in early 1991. The experiment, Lidar In Space Technology Experiment (LITE), utilizes a neodymium:YAG laser and 0.85 meter effective diameter Cassegranian-configured telescope receiver for making elastic backscatter measurements. The laser will be frequency doubled and tripled simulataneously producing a 10 Hz rate of 200 mJ at 1064 nm, 400 mJ at 532 nm, and 150 mJ at 355 nm. The technological objectives of LITE are to evaluate lidar system operations in space, lidar techniques in space, and to provide a test bed for new lidar technologies in later flights. The measurement objectives include the determination of cloud top and planetary boundary layer heights, the measurement of tropospheric and stratospheric aerosols, and the measurement of temperature and density between 10 to 40 km altitude. Detailed simulations will be presented showing the errors associated with each of these measurement objectives. In addition, the experiment scenario will be described including measurement times, data flow, processing and archival, and initial plans for validation of the LITE data set with correlative measurements.

Mccormick, M. P.↗

Planetary surface exploration: MESUR/autonomous lunar rover

Planetary surface exploration micro-rovers for collecting data about the Moon and Mars was designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA-Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental SURvey (MESUR) Alpha Particle/Proton/X-ray instruments (APX). The system is to be launched with the sixteen MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker was developed to deploy the APX from the lander to the Martian surface. While on Mars the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar-terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation which NASA can use for future lunar exploratory missions. A detailed description of the designs, methods, and procedures which the University of Idaho design teams followed to arrive at the final designs are included.

Stauffer, Larry↗

Statistical modeling of software reliability

This working paper discusses the statistical simulation part of a controlled software development experiment being conducted under the direction of the System Validation Methods Branch, Information Systems Division, NASA Langley Research Center. The experiment uses guidance and control software (GCS) aboard a fictitious planetary landing spacecraft: real-time control software operating on a transient mission. Software execution is simulated to study the statistical aspects of reliability and other failure characteristics of the software during development, testing, and random usage. Quantification of software reliability is a major goal. Various reliability concepts are discussed. Experiments are described for performing simulations and collecting appropriate simulated software performance and failure data. This data is then used to make statistical inferences about the quality of the software development and verification processes as well as inferences about the reliability of software versions and reliability growth under random testing and debugging.

Miller, Douglas R.↗

Visual End-Effector Position Error Compensation for Planetary Robotics

This paper describes a vision-guided manipulation algorithm that improves arm end-effector positioning to subpixel accuracy and meets the highly restrictive imaging and computational constraints of a planetary robotic flight system. Analytical, simulation-based, and experimental analyses of the algorithm's effectiveness and sensitivity to camera and arm model error is presented along with results on several prototype research systems and 'ground-in-the-loop' technology experiments on the Mars Exploration Rover (MER) vehicles. A computationally efficient and robust subpixel end-effector fiducial detector that is instrumental to the algorithm's ability to achieve high accuracy is also described along with its validation results on MER data.

vision-guided manipulation algorithm↗

Geology Before Pluto: Pre-Encounter Considerations

The cameras of New Horizons will provide robust data sets that should be imminently amenable to geological analysis of the Pluto systems landscapes. In this paper, we begin with a brief discussion of the planned observations by the New Horizons cameras that will bear most directly on geological interpretability. Then we broadly review the major geological processes that could potentially operate on the surfaces of Pluto and its major moon Charon. We first survey exogenic processes (i.e. those for which energy for surface modification is supplied externally to the planetary surface): impact cratering, sedimentary processes (including volatile migration), and the work of wind. We conclude with an assessment of the prospects for endogenic activity in the form of tectonics and cryovolcanism.

Pluto↗

Visual end-effector position error compensation for planetary robotics

This paper describes a vision-guided manipulation algorithm that improves arm end-effector positioning to subpixel accuracy and meets the highly restrictive imaging and computational constraints of a planetary robotic flight system. Analytical, simulation-based, and experimental analyses of the algorithm's effectiveness and sensitivity to camera and arm model error is presented along with results on several prototype research systems and ground-in-the-loop technology experiments on the Mars Exploration Rover (MER) vehicles. A computationally efficient and robust subpixel end-effector fiducial detector that is instrumental to the algorithm's ability to achieve high accuracy is also described along with its validation results on MER data.

Nickels, Kevin↗

Geophysical Observations of the 2023 September 24 OSIRIS-REx Sample Return Capsule Reentry

Sample return capsules (SRCs) entering Earth's atmosphere at hypervelocity from interplanetary space are a valuable resource for studying meteor phenomena. The 2023 September 24 arrival of the Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer SRC provided an unprecedented chance for geophysical observations of a well-characterized source with known parameters, including timing and trajectory. A collaborative effort involving researchers from 16 institutions executed a carefully planned geophysical observational campaign at strategically chosen locations, deploying over 400 ground-based sensors encompassing infrasound, seismic, distributed acoustic sensing, and Global Positioning System technologies. Additionally, balloons equipped with infrasound sensors were launched to capture signals at higher altitudes. This campaign (the largest of its kind so far) yielded a wealth of invaluable data anticipated to fuel scientific inquiry for years to come. The success of the observational campaign is evidenced by the near-universal detection of signals across instruments, both proximal and distal. This paper presents a comprehensive overview of the collective scientific effort, field deployment, and preliminary findings. The early findings have the potential to inform future space missions and terrestrial campaigns, contributing to our understanding of meteoroid interactions with planetary atmospheres. Furthermore, the data set collected during this campaign will improve entry and propagation models and augment the study of atmospheric dynamics and shock phenomena generated by meteoroids and similar sources.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

Review of NASA's Planned Mars Program

The exploration of Mars has long been a prime scientific objective of the U.S. planetary exploration program. Yet no U.S. spacecraft has successfully made measurements at Mars since the Viking missions of the late 1970s. Mars Observer, which was designed to conduct global observations from orbit, failed just before orbit insertion in 1993. The Russian spacecraft Phobos 2 did succeed in making some observations of the planet in 1989, but it was designed primarily to observe Phobos, the innermost satellite of Mars; the spacecraft failed 2 months after insertion into Mars orbit during the complex maneuvers required to rendezvous with the martian satellite. In fall 1996 NASA plans to launch Mars Pathfinder for a landing on the martian surface in mid-1997. This spacecraft is one of the first two missions in NASA's Discovery program that inaugurates a new style of planetary exploration in which missions are low-cost (less than $150 million) and have very focused science objectives. As can be seen in the comparative data presented in Box 1, this mission is considerably smaller in terms of cost, mass, and scope than NASA's previous Mars missions. NASA's FY 1995 budget initiated a continuing Mars exploration program, called Mars Surveyor, that involves multiple launches of spacecraft as small as or smaller than Mars Pathfinder to Mars over the next several launch opportunities, which recur roughly every 26 months. The first mission in the program, Mars Global Surveyor, set for launch late in 1996, is intended to accomplish many of the objectives of the failed Mars Observer. Like the Discovery program, Mars Surveyor is a continuing series of low-cost missions, each of which has highly focused science objectives. See Box 1 for comparative details of those Surveyor missions currently defined. Around the same time that the Mars Surveyor series was chosen as the centerpiece of NASA's solar system exploration program, the Committee on Planetary and Lunar Exploration (COMPLEX) designated Mars as one of four scientific targets for emphasis in future studies. It was against this background that the Space Studies Board charged COMPLEX to review whether the Mars Pathfinder and Surveyor programs, as presently conceived, satisfy the highest priorities for understanding Mars as provided in its report, An Integrated Strategy for the Planetary Sciences: 1995-2010. The present document is COMPLEX's assessment of the scientific potential of NASA's new approach to Mars exploration. This assessment considers how well the scientific objectives of the Mars Surveyor program match those of the Integrated Strategy; it also addresses some advantages and disadvantages of the smaller-faster-cheaper approach to the exploration of Mars. The capabilities of the various instruments are not discussed in detail since the Mars Observer instruments, all of which are scheduled for reflight, have already been assessed by COMPLEX2 and later instruments are, in general, not yet well defined.

Source record↗

Planetary and Primitive Object Strength Measurements and Sampling Apparatus

We present experimental data and a model for the low-velocity (subsonic, 0 - 1000 m/s) penetration of brittle materials by both solid and hollow (i.e., coring) penetrators. The experiments show that penetration is proportional to momentum/frontal area of the penetrator. Because of the buildup of a cap in front of blunt penetrators, the presence or absence of a streamlined or sharp front end usually has a negligible effect for impact into targets with strength. The model accurately predicts the dependence of penetration depth on the various parameters of the target-penetrator system, as well as the qualitative condition of the target material ingested by a corer. In particular, penetration depth is approximately inversely proportional to the static bearing strength of the target. The bulk density of the target material has only a small effect on penetration, whereas friction can be significant, especially at higher impact velocities, for consolidated materials. This trend is reversed for impacts into unconsolidated materials. The present results suggest that the depth of penetration is a good measure of the strength, but not the density, of a consolidated target. Both experiments and model results show that, if passage through the mouth of a coring penetrator requires initially porous target material to be compressed to less than 26% porosity, the sample collected by the corer will be highly fragmented. If the final porosity remains above 26%, then most materials, except cohesionless materials, such as dry sand, will be collected as a compressed slug of material.

Ahrens, Thomas J.↗