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All sourcesNASA NTRSDOE OSTI
NASA NTRS2022

Visual Odometry Thinking While Driving for the Curiosity Mars Rover's Three-Year Test Campaign: Impact of Evolving Constraints on Verification and Validation

Over the first 9 years of the Mars Science Laboratory (MSL) Curiosity rover's surface mission, more than 87\% of its driving has been performed using Visual Odometry (VO). The benefits of using VO during driving are that it minimizes rover position uncertainty and can be used to monitor wheel slip, halting a drive if excessive wheel slip is occurring. The VO implementation on board Curiosity acquires and processes VO images in between drive steps while the rover is stationary. A VO Thinking While Driving (VTWD) flight software capability has been developed which enables the processing of VO images during rover driving, increasing the distance Curiosity can drive with VO in a given time period up to as much as 1.75x total distance. Verification and Validation (V\&V) of the capability has been challenging due to impacts from the COVID-19 pandemic and unavailability of the JPL Mars Yard outdoor test site. The VTWD V\&V test procedures were modified to use a small indoor space with Mars-like terrain. This paper describes the 3 year V\&V effort under challenging conditions to approve the VTWD capability for use on the Curiosity rover.

Rankin, Arturo↗
DOE OSTI2023

Oxidation of NiCr and NiCrMo Alloys at Low Temperatures

Oxidation of Ni-Cr and Ni-Cr-Mo was studied in operando with near ambient pressure x-ray photoelectron spectroscopy in the Cabrera-Mott regime. The oxidation temperature was 200 °C - a severely diffusion limited regime. The near-surface alloy is Cr-enriched after reduction of natives oxide in vacuum, and especially so for Ni-15Cr-6Mo. Mo-cations are integrated in the oxide and Mo(VI) dominates at the surface. The surface chemistry driven promotion of chromia by Mo predicted by theory is negated by the limited surface diffusion of reactants. Furthermore, pre-oxidation processing is proposed to control the oxide properties for use of Ni-Cr superalloys at low temperatures.

36 MATERIALS SCIENCE↗
NASA NTRSDate not supplied

Rapid Assessment of a Lunar Surface Laboratory Module

Johnson Space Center is piloting an innovation team known as the Forge to perform rapid turnaround, concurrent engineering studies. The Forge is intended to be able to pull together a team of strategically selected domain experts to innovatively solve a specified problem within a short period of time. The Forge’s inaugural project being the development of a Lunar Surface Laboratory Module concept. The lab module is intended as an option for the Artemis program’s Lunar Architecture Team. The lab module may allow for increased science productivity and return on investment than a surface architecture with only the habitat. This paper will discuss the configuration of the Lunar Laboratory module, including the pressure vessel, its placement relative to the Surface Habitat and Pressurized Rover, and internal architecture. In order to determine the suitability of such a design, a human factors evaluation is conducted. Historically, a human factors evaluation of a habitable volume could require a month or longer, including time needed to prepare a test plan, conduct the evaluation, compile the data, and produce a report. The entire Forge effort will only last for five weeks, forcing the creation of a rapid assessment process. This rapid assessment includes three evaluation studies, all conducted and processed in the space of a single day, to determine the acceptability of the resulting design. The first evaluation is a card sort evaluation of the laboratory instruments. A brief discussion of the card sort evaluation is provided. This card sort is focused on the relative positioning of the laboratory instruments, determining whether a given instrument should be adjacent to, or separated from, another. It will use human factors personnel and both life and physical scientists as subject matter experts. The second evaluation is a science productivity tabletop evaluation. This evaluation focuses on the selection of instruments and the number of instruments, attempting to assess the amount of work the crew will be able to use the facility to do. It uses life and physical science personnel as subject matter experts. The third evaluation is a CAD or Virtual Reality human factors walkthrough evaluation. This evaluation focuses on the layout of the lab module and its connectivity to the basecamp’s pressurized elements. If possible, astronauts will be used as subject matter experts. Each of these evaluations will focus primarily on objective data with limited subjective comments, reducing the time required for processing responses. The results of each evaluation and their implications will be discussed. Based on the evaluation data, an overall acceptability of the Lunar Surface Laboratory Module produced by the Forge study can be determined. Lessons learned and recommendations for future use of the human factors rapid assessment process in early design trades will also be provided.

Lunar Laboratory↗
NASA NTRS1990

Proceedings of a Workshop on Antarctic Meteorite Stranding Surfaces

The discovery of large numbers of meteorites on the Antarctic Ice Sheet is one of the most exciting developments in polar science in recent years. The meteorites are found on areas of ice called stranding surfaces. Because of the sudden availability of hundreds, and then thousands, of new meteorite specimens at these sites, the significance of the discovery of meteorite stranding surfaces in Antarctica had an immediate and profound impact on planetary science, but there is also in this discovery an enormous, largely unrealized potential to glaciology for records of climatic and ice sheet changes. The glaciological interest derives from the antiquity of the ice in meteorite stranding surfaces. This exposed ice covers a range of ages, probably between zero and more than 500,000 years. The Workshop on Antarctic Meteorite Stranding Surfaces was convened to explore this potential and to devise a course of action that could be recommended to granting agencies. The workshop recognized three prime functions of meteorite stranding surfaces. They provide: (1) A proxy record of climatic change (i.e., a long record of climatic change is probably preserved in the exposed ice stratigraphy); (2) A proxy record of ice volume change; and (3) A source of unique nonterrestrial material.

Cassidy, W. A.↗
NASA NTRS2006

Mars Science Laboratory Entry, Descent and Landing Overview

This viewgraph presents an overview of the Mars Science Laboratory. It shows the instruments on the lander, the comparative size to a very small automobile. The presentation also shows the planned method of landing the vessel on the Mars surface.

Mars Science Laboratory (MSL)↗
NASA NTRS2003

Mars Mission Surface Operation Simulation Testing of Lithium-Ion Batteries

The objectives of this program are to 1) Assess viability of using lithium-ion technology for future NASA applications, with emphasis upon Mars landers and rovers which will operate on the planetary surface; 2) Support the JPL 2003 Mars Exploration Rover program to assist in the delivery and testing of a 8 AHr Lithium-Ion battery (Lithion/Yardney) which will power the rover; 3) Demonstrate applicability of using lithium-ion technologyfor future Mars applications: Mars 09 Science Laboratory (Smart Lander) and Future Mars Surface Operations (General). Mission simulation testing was carried out for cells and batteries on the Mars Surveyor 2001 Lander and the 2003 Mars Exploration Rover.

Smart, M. C.↗
NASA NTRS2012

Scaled CMOS Reliability and Considerations for Spacecraft Systems : Bottom-Up and Top-Down Perspectives

The recently launched Mars Science Laboratory (MSL) flagship mission, named Curiosity, is the most complex rover ever built by NASA and is scheduled to touch down on the red planet in August, 2012 in Gale Crater. The rover and its instruments will have to endure the harsh environments of the surface of Mars to fulfill its main science objectives. Such complex systems require reliable microelectronic components coupled with adequate component and system-level design margins. Reliability aspects of these elements of the spacecraft system are presented from bottom- up and top-down perspectives.

derating thermal margin↗
DOE OSTI2024

Site heterogeneity and broad surface-binding isotherms in modern catalysis: Building intuition beyond the Sabatier principle

Learning the science of heterogeneous catalysis and electrocatalysis always starts with the simple case of a flat, uniform surface with an ideal adsorbate. It has of course been recognized for a century that real catalysts are more complicated. For the increasingly complex catalysts of the 21st century, this Perspective argues that surface heterogeneity and non-ideal binding isotherms are central features, and their implications need to be incorporated in current thinking. A variety of systems are described herein where catalyst complexity leads to broad, non-Langmuirian surface isotherms for the binding of hydrogen atoms – and this occurs even for ideal, flat Pt(111) surfaces. Modern catalysis employs nanoscale materials whose surfaces have substantial step, edge, corner, impurity, and other defect sites, and they increasingly have both metallic and non-metallic elements M n X m , including metal oxides, chalcogenides, pnictides, carbides, doped carbons, etc. The surfaces of such catalysts are often not crystal facets of the bulk phase underneath, and they typically have a variety of potential active sites. Catalytic surfaces in operando are often non-stoichiometric, amorphous, dynamic, and impure, and often vary from one part of the surface to another. Understanding of the issues that arise at such nanoscale, multi-element catalysts is just beginning to emerge. Yet these catalysts are widely discussed using Brønsted/Bell-Evans-Polanyi (BEP) relations, volcano plots, Tafel slopes, the Butler-Volmer equation, and other linear free energy relations (LFERs), which all depend on the implicit assumption that the active sites are “similar” and that surface adsorption is close to ideal. These assumptions underly the ubiquitous intuition based on the Sabatier Principle, that the fastest catalysis will occur when key intermediates have free energies of adsorption that are not too strong nor too weak. Current catalysis research often aims to minimize the complexity of non-ideal isotherms through experimental and computational design (e.g., the use of single crystal surfaces), and these studies are the foundation of the field. In contrast, this Perspective argues that the heterogeneity of binding sites and binding energies is an inherent strength of these catalysts. Here, this diversity makes many nanoscale catalysts inherently a high-throughput screen wrapped in a tiny package. Only by making the heterogeneity part of the foundation of catalysis models, sorting the types of active sites and dissecting non-ideal binding isotherms, will modern catalysis learn to harness the inherent diversity of real catalysts. Controlling and exploiting diversity rather than avoiding it will help to optimize complex modern catalysts and catalytic conditions.

Mayer, James M.↗
NASA NTRS2004

Planning for rover opportunistic science

The Mars Exploration Rover Spirit recently set a record for the furthest distance traveled in a single sol on Mars. Future planetary exploration missions are expected to use even longer drives to position rovers in areas of high scientific interest. This increase provides the potential for a large rise in the number of new science collection opportunities as the rover traverses the Martian surface. In this paper, we describe the OASIS system, which provides autonomous capabilities for dynamically identifying and pursuing these science opportunities during longrange traverses. OASIS uses machine learning and planning and scheduling techniques to address this goal. Machine learning techniques are applied to analyze data as it is collected and quickly determine new science gods and priorities on these goals. Planning and scheduling techniques are used to alter the behavior of the rover so that new science measurements can be performed while still obeying resource and other mission constraints. We will introduce OASIS and describe how planning and scheduling algorithms support opportunistic science.

artificial intelligence↗
NASA NTRS2013

The Soil Moisture Active Passive (SMAP) Radar: Measurements at High Latitudes and of Surface Freeze/Thaw State

The Soil Moisture Active/Passive (SMAP) mission is scheduled for a late 2014 launch date. The mission will use both active radar and passive radiometer instruments at L-Band in order to achieve the science objectives of measuring soil moisture and land surface freeze-thaw state. To achieve requirements for a wide swath at sufficiently high resolution for both active and passive channels, an instrument architecture that uses a large rotating reflector is employed. In this paper, focus will be placed on the radar design. The radar will employ synthetic-aperture processing to achieve a "moderate" resolution dual-pol product over a 1000 km swath. Because the radar is operating continuously, very frequent temporal coverage will be achieved at high latitudes. This data will be used to produce a surface freeze/thaw state data product.

Spencer, Michael↗
NASA NTRS2007

Science and the Constellation Systems Program Office

An underlying tension has existed throughout the history of NASA between the human spaceflight programs and the external scientific constituencies of the robotic exploration programs. The large human space projects have been perceived as squandering resources that might otherwise be utilized for scientific discoveries. In particular, the history of the relationship of science to the International Space Station Program has not been a happy one. The leadership of the Constellation Program Office, created in NASA in October, 2005, asked me to serve on the Program Manager s staff as a liaison to the science community. Through the creation of my position, the Program Manager wanted to communicate and elucidate decisions inside the program to the scientific community and, conversely, ensure that the community had a voice at the highest levels within the program. Almost all of my technical contributions at NASA, dating back to the Apollo Program, has been within the auspices of what is now known as the Science Mission Directorate. However, working at the Johnson Space Center, where human spaceflight is the principal activity, has given me a good deal of incidental contact and some more direct exposure through management positions to the structures and culture of human spaceflight programs. I entered the Constellation family somewhat naive but not uninformed. In addition to my background in NASA science, I have also written extensively over the past 25 years on the topic of human exploration of the Moon and Mars. (See, for example, Mendell, 1985). I have found that my scientific colleagues generally have little understanding of the structure and processes of a NASA program office; and many of them do not recognize the name, Constellation. In many respects, the international ILEWG community is better informed. Nevertheless, some NASA decision processes on the role of science, particularly with respect to the formulation of a lunar surface architecture, are not well known, even in ILEWG. At the recent annual Lunar and Planetary Science Conference, I reviewed the evolution of the program as a function of Agency leadership and the constraints put on NASA by the President in his 2004 announcement. I plan to continue my long-time ILEWG tradition of reporting a personal view of the state of development of human exploration of the solar system, this time coming from within the program office tasked to implement the vision for the United States. The current NASA implementation of the Vision for Space Exploration is consistent with certain classical scenarios that have been discussed extensively in the literature. I will discuss the role of science within the Vision, both from official policy and from a de facto interaction. While science goals are not officially driving the implementation of the Vision, the tools of scientific exploration are integral to defining the extraterrestrial design environments. In this respect the sharing of results from international missions to the Moon can make significant contributions to the success of the future human activities.

Mendell, Wendell↗
NASA NTRS2011

Incorporating JULES into NASA's Land Information System (LIS) and Investigations of Land-Atmosphere Coupling

NASA's Land Information System (LIS; lis.gsfc.nasa.gov) is a flexible land surface modeling and data assimilation framework developed over the past decade with the goal of integrating satellite- and ground-based observational data products and advanced land surface modeling techniques to produce optimal fields of land surface states and fluxes. LIS features a high performance and flexible design, and operates on an ensemble of land surface models for extension over user-specified regional or global domains. The extensible interfaces of LIS allow the incorporation of new domains, land surface models (LSMs), land surface parameters, meteorological inputs, data assimilation and optimization algorithms. In addition, LIS has also been demonstrated for parameter estimation and uncertainty estimation, and has been coupled to the Weather Research and Forecasting (WRF) mesoscale model. A visiting fellowship is currently underway to implement JULES into LIS and to undertake some fundamental science on the feedbacks between the land surface and the atmosphere. An overview of the LIS system, features, and sample results will be presented in an effort to engage the community in the potential advantages of LIS-JULES for a range of applications. Ongoing efforts to develop a framework for diagnosing land-atmosphere coupling will also be presented using the suite of LSM and PBL schemes available in LIS and WRF along with observations from the U. S .. Southern Great Plains. This methodology provides a potential pathway to study factors controlling local land-atmosphere coupling (LoCo) using the LIS-WRF system, which will serve as a testbed for future experiments to evaluate coupling diagnostics within the community.

Santanello, Joseph↗
NASA NTRS1999

The Mars Pathfinder Mission and Science Results

Mars Pathfinder, the first low-cost, quick Discovery class mission to be completed, successfully landed on the surface of Mars on July 4, 1997, deployed and navigated a small rover, and collected data from 3 science instruments and 10 technology experiments. The mission operated on Mars for 3 months and returned 2.3 Gbits of new data, including over 16,500 lander and 550 rover images, 16 chemical analyses of rocks and soil, and 8.5 million individual temperature, pressure and wind measurements. The rover traversed 100 m clockwise around the lander, exploring about 200 square meters of the surface. The mission captured the imagination of the public, and garnered front page headlines during the first week. A total of about 566 million internet "hits" were registered during the first month of the mission, with 47 million "hits" on July 8th alone, making the Pathfinder landing by far the largest internet event in history at the time. Pathfinder was the first mission to deploy a rover on Mars. It carried a chemical analysis instrument, to characterize the rocks and soils in a landing area over hundreds of square meters on Mars, which provided a calibration point or "ground truth" for orbital remote sensing observations. The combination of spectral imaging of the landing area by the lander camera, chemical analyses aboard the rover, and close-up imaging of colors, textures and fabrics with the rover cameras offered the potential of identifying rocks (petrology and mineralogy). With this payload, a landing site in Ares Vallis was selected because it appeared acceptably safe and offered the prospect of analyzing a variety of rock types expected to be deposited by catastrophic floods, which enabled addressing first-order scientific questions such as differentiation of the crust, the development of weathering products, and the nature of the early Martian environment and its subsequent evolution. The 3 instruments and rover allowed seven areas of scientific investigation: the geology and geomorphology of the surface, mineralogy and geochemistry of rocks and soils, physical properties of surface materials, magnetic properties of airborne dust, atmospheric science including aerosols, and rotational and orbital dynamics of Mars. Scientists were assembled into 7 Science Operations Groups that were responsible for requesting measurements by the 3 instruments, rover and engineering subsystems for carrying out their scientific investigations and for analyzing the data and reporting on their findings. The spacecraft was launched on December 4, 1996 and had a 7 month cruise to Mars, with four trajectory correction maneuvers. The vehicle entered the atmosphere directly following cruise stage separation. Parachute deployment, heatshield and lander separation, radar ground acquisition, airbag inflation and rocket ignition all occurred before landing at 2:58 AM true local solar time (9:56:55 AM PDT). The lander bounced at least 15 times up to 12 in high without airbag rupture, demonstrating the robustness of this landing system. Reconstruction of the final landing sequence indicates that the parachute/backshel1/1ander was tilted due to a northwest directed wind and wind shear, which resulted in the lander bouncing about I km to the northwest and initially downhill about 20 m from where the solid rockets fired. Two anomalously bright spots located in the lander scene are likely the heatshield, which continued in a ballistic trajectory about 2 km downrange (west southwest), and the backshell/parachute, which stayed nearer to where the rockets fired. Unconnected disturbed soil patches in the scene indicate that the final few bounces of the lander were from the east-southeast and were followed by a gentle roll to the west before coming to rest on the base petal. The location of the lander away from where the solid rockets fired and considerations of the exhaust products used to inflate the airbags and their fate, indicate that the Pathfinder landing system is one of the cleanest designed leaving the local area essentially contaminant free. The radio signal from the low-=gain antenna was received at 11:34 AM PDT indicating a successful landing.

Golombek, M. P.↗
NASA NTRS2016

Resource Prospector Instrumentation for Lunar Volatiles Prospecting, Sample Acquisition and Processing

Data gathered from lunar missions within the last two decades have significantly enhanced our understanding of the volatile resources available on the lunar surface, specifically focusing on the polar regions. Several orbiting missions such as Clementine and Lunar Prospector have suggested the presence of volatile ices and enhanced hydrogen concentrations in the permanently shadowed regions of the moon. The Lunar Crater Observation and Sensing Satellite (LCROSS) mission was the first to provide direct measurement of water ice in a permanently shadowed region. These missions with other orbiting assets have laid the groundwork for the next step in the exploration of the lunar surface; providing ground truth data of the volatiles by mapping the distribution and processing lunar regolith for resource extraction. This next step is the robotic mission Resource Prospector (RP). Resource Prospector is a lunar mission to investigate 'strategic knowledge gaps' (SKGs) for in-situ resource utilization (ISRU). The mission is proposed to land in the lunar south pole near a permanently shadowed crater. The landing site will be determined by the science team with input from broader international community as being near traversable landscape that has a high potential of containing elevated concentrations of volatiles such as water while maximizing mission duration. A rover will host the Regolith & Environment Science and Oxygen & Lunar Volatile Extraction (RESOLVE) payload for resource mapping and processing. The science instruments on the payload include a 1-meter drill, neutron spectrometer, a near infrared spectrometer, an operations camera, and a reactor with a gas chromatograph-mass spectrometer for volatile analysis. After the RP lander safely delivers the rover to the lunar surface, the science team will guide the rover team on the first traverse plan. The neutron spectrometer (NS) and near infrared (NIR) spectrometer instruments will be used as prospecting tools to guide the traverse path. The NS will map the water-equivalent hydrogen concentration as low as 0.5% by weight to an 80 centimeter depth as the rover traverses the lunar landscape. The NIR spectrometer will measure surficial H2O/OH as well as general mineralogy. When the prospecting instruments identify a potential volatile-rich area during the course of a traverse, the prospect is then mapped out and the most promising location identified. An augering drill capable of sampling to a depth of 100 centimeters will excavate regolith for analysis. A quick assay of the drill cuttings will be made using an operations camera and NIR spectrometer. With the water depth confirmed by this first auguring activity, a regolith sample may be extracted for processing. The drill will deliver the regolith sample to a crucible that will be sealed and heated. Evolved volatiles will be measured by a gas chromatograph-mass spectrometer and the water will be captured and photographed. RP is a solar powered mission, which given the polar location translates to a relatively short mission duration on the order of 4-15 days. This short mission duration drives the concept of operations, instrumentation, and data analysis towards critical real time analysis and decision support. Previous payload field tests have increased the fidelity of the hardware, software, and mission operations. Current activities include a mission level field test to optimize interfaces between the payload and rover as well as better understand the interaction of the science and rover teams during the mission timeline. This paper will include the current status of the science instruments on the payload as well as the integrated field test occurring in fall of 2015. The concept of operations will be discussed, including the real time science and engineering decision-making process based on the critical data from the instrumentation. The path to flight will be discussed with the approach to this ambitious low cost mission.

ISRU↗
DOE OSTI2024

Mechanistically Informed Strategies for Site-Selective Atomic Layer Deposition

While atomic layer deposition (ALD) processes from across the periodic table have been designed to deposit conformal thin films, an atomistic view of disparate substrate sites reveals the possibility of even greater synthetic control and precision. An understanding of the mechanism by which a particular ALD precursor reacts (or does not react) at myriad surface sites remains in its infancy. Here, in this Perspective, we summarize site-specific chemical reaction strategies that utilize ALD precursors and tailored surface chemistry to discriminate among potential deposition sites as well as describe techniques and tools that can be used to investigate site-selective ALD (SS-ALD). The Perspective is focused on the science of site-selective vapor-phase surface reactions but inevitably reveals the potential utility of such surface synthetic precision.

36 MATERIALS SCIENCE↗
NASA NTRSDate not supplied

Enabling more routine monitoring of volcanic CO2 degassing from space

“Volcanic aerosol impacts on satellite trace gas retrievals: enabling volcanic emission plume composition measurements to track evolving sub-surface magmatic conditions” ROSES 2019 IDS (Interdisciplinary Science), 2020-2023 (S. Broccardo, PI) Main hypothesis: Space-based observations of the CO2, SO2, and H2O emissions of passively degassing volcanoes, and the derived mass fluxes and their ratios, can be used to constrain a physical model of the pre-eruptive conditions of magmatic reservoirs and thereby improve our understanding of sub-surface processes.

Enabling↗
NASA NTRS2003

The Pascal Mars Scout Mission

Pascal is a Mars Climate Network Mission that is being developed for NASA's Mars Scout Program. The mission would establish a network of 18 science weather stations distributed across the entire surface of Mars that operates for 3-10 Mars years (5.6- 18.8 Earth years). Pascal's instrument suite combines entry data from accelerometers and descent cameras, with landed data from pressure, opacity, temperature, wind speed, and water vapor to create a detailed global picture of Martian climate and weather. A panoramic landed camera system acquires images every 30 Sols to monitor changes in the landing environment due to winds. Analysis of data from the science stations, taken as often as once every 15 minutes, will provide a depth of understanding that will vastly increase our knowledge of Mars, and significantly impact site selection for future NASA missions. Pascal is the first mission ever to sample - in situ - the full global diversity of Mars and provide a continuous long-term presence on its surface.

Haberle, R. M.↗