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NASA has embarked on a new mission concept for its planetary program. This new mission concept calls for smaller, lower mass, cheaper systems. The Mars Pathfinder micro rover mission scheduled for launch in 1996 embodies this new mission concept.
This project was to investigate models for aqueous sedimentation on early Mars from fluid evaporation. Results focused on three specific areas: (1) First, a fluid evaporation model incorporating iron minerals was developed to compute the evaporation of a likely solution on early Mars derived from the weathering of mafic rock. (2) Second, the fluid evaporation model was applied to salts within Martian meteorites, specifically salts in the nakhlites and ALH84001. Evaporation models were found to be consistent with the mineralogy of salt assemblages-anhydrite, gypsum, Fe-Mg-Ca carbonates, halite, clays-- and the concentric chemical fractionation of Ca-to Mg-rich carbonate rosettes in ALH84001. We made progress in further developing our models of fluid concentration by contributing to updating the FREZCHEM model. (3) Third, theoretical investigation was done to determine the thermodynamics and kinetics involved in the formation of gray, crystalline hematite. This mineral, of probable ancient aqueous origin, has been observed in several areas on the surface of Mars by the Thermal Emission Spectrometer on Mars Global Surveyor. The "Opportunity" Mars Exploration Rover has also detected gray hematite at its landing site in Meridiani Planum. We investigated how gray hematite can be formed via atmospheric oxidation, aqueous precipitation and subsequent diagenesis, or hydrothermal processes. We also studied the geomorphology of the Aram Chaos hematite region using Mars Orbiter Camera (MOC) images.
This paper gives an update on the performance of the Mars Exploration Rovers (MER) which have been continually performing for more than 3 years beyond their original 90-day missions. The paper also gives the latest results on the optimization of a multijunction solar cell that is optimized to give more power on the surface of Mars.
Mars Exploration Rover Opportunity is exploring the rim of 22 km diameter, Noachian-aged Endeavour crater. Marathon Valley cuts through the central region of the western rim providing a window into the local lower rim stratigraphic record. Spectra from the Compact Reconnaissance Imaging Spectrometer for Mars show evidence for the occurrence of Fe-Mg smectite in this valley, indicating areally extensive and distinct lithologic units and/or styles of aqueous alteration. The Alpha Particle X-ray Spectrometer has determined the compositions of 59 outcrop targets on untreated, brushed and abraded surfaces. Rocks in the Marathon Valley region are soft breccias composed of mm- to cm-sized darker clasts set in a lighter-toned, finegrained matrix. They are basaltic in non-volatile-element composition and compositionally similar to breccias investigated elsewhere on the rim. Alteration styles recorded in the rocks include: (1) Enrichments in Si, Al, Ti and Cr in more reddish-colored rock, consistent with leaching of more soluble cations and/or precipitation of Si +/- Al, Ti, Cr from fluids. Coprecipitation of Ge-rich phases with Si occurred in the western area only; high water:rock is indicated. Pancam multispectral observations indicate higher nanophase ferric oxide contents, but the rocks have lower Fe contents. The highly localized nature of the red zones indicate they cannot be the source of the widespread smectite signature observed from orbit. (2) Outcrops separated by approximately 65 m show common compositional changes between brushed and abraded (approximately 1 mm deep) targets: increases in S and Mg; decreases in Al, Cl and Ca. These changes are likely due to relatively recent, surface-related alteration of valley rocks and formation of surface coatings under low water:rock. (3) One target, from the center of a region of strong CRISM smectite signature, shows modest differences in composition (higher Si, K; lower Mn) compared to most Marathon Valley rocks, while another target approximately 40 cm away on the same outcrop does not; a change towards smectite bulk compositions is not observed. The smectite signature likely resulted from alteration under low water:rock such that primary minerals were partially altered to phyllosilicates, but wholesale leaching of cations by fluids did not occur.
Platinum resistance thermometers (PRTs) provide accurate temperature measurements over a wide temperature range and are used extensively on space missions due to their simplicity and linearity. A standard on spacecraft, PRTs are used to provide precision temperature control and vehicle health assessment. This paper reviews the extensive reliability testing of platinum resistor thermometer sensors (PRTs) and bonding methods used on the Mars Science Laboratory (MSL) mission and for the upcoming Soil Moisture Active Passive (SMAP) mission. During the Mars Exploration Rover (MER) mission, several key, JPL-packaged PRTs failed on those rovers prior to and within 1-Sol of landing due to thermally induced stresses. Similar failures can be traced back to other JPL missions dating back thirty years. As a result, MSL sought out a PRT more forgiving to the packaging configurations used at JPL, and extensively tested the Honeywell HRTS-5760-B-U-0-12 sensor to successfully demonstrate suitable robustness to thermal cycling. Specifically, this PRT was cycled 2,000 times, simulating three Martian winters and summers. The PRTs were bonded to six substrate materials (Aluminum 7050, treated Magnesium AZ231-B, Stainless Steel 304, Albemet, Titanium 6AL4V, and G-10), using four different aerospace adhesives--two epoxies and two silicones--that conformed to MSL's low out-gassing requirements. An additional epoxy was tested in a shorter environmental cycling test, when the need for a different temperature range adhesive was necessary for mobility and actuator hardware late in the fabrication process. All of this testing, along with electrostatic discharge (ESD) and destructive part analyses, demonstrate that this PRT is highly robust, and not subject to the failure of PRTs on previous missions. While there were two PRTs that failed during fabrication, to date there have been no in-flight PRT failures on MSL, including those on the Curiosity rover. Since MSL, the sensor has gone through a change in construction such that the manufacturer significantly restricts the minimum temperature. However, significant subsequent testing was performed with this new version of the part to show that it indeed is still robust to at least Mars minimum temperatures of -135(sup o)C. The additional completed testing will be described. This work has resulted in a successful sensor package qualification and a reliable bonding method suitable for use over large temperature extremes.
Platinum resistance thermometers (PRTs) provide accurate temperature measurements over a wide temperature range and are used extensively on space missions due to their simplicity and linearity. A standard on spacecraft, PRTs are used to provide precision temperature control and vehicle health assessment. This paper reviews the extensive reliability testing of platinum resistor thermometer sensors (PRTs) and bonding methods used on the Mars Science Laboratory (MSL) mission and for the upcoming Soil Moisture Active Passive (SMAP) mission. During the Mars Exploration Rover (MER) mission, several key, JPL-packaged PRTs failed on those rovers prior to and within 1-Sol of landing due to thermally induced stresses. Similar failures can be traced back to other JPL missions dating back thirty years. As a result, MSL sought out a PRT more forgiving to the packaging configurations used at JPL, and extensively tested the Honeywell HRTS-5760-B-U-0-12 sensor to successfully demonstrate suitable robustness to thermal cycling. Specifically, this PRT was cycled 2,000 times, simulating three Martian winters and summers. The PRTs were bonded to six substrate materials (Aluminum 7050, treated Magnesium AZ231-B, Stainless Steel 304, Albemet, Titanium 6AL4V, and G-10), using four different aerospace adhesives--two epoxies and two silicones--that conformed to MSL's low out-gassing requirements. An additional epoxy was tested in a shorter environmental cycling test, when the need for a different temperature range adhesive was necessary for mobility and actuator hardware late in the fabrication process. All of this testing, along with electrostatic discharge (ESD) and destructive part analyses, demonstrate that this PRT is highly robust, and not subject to the failure of PRTs on previous missions. While there were two PRTs that failed during fabrication, to date there have been no in-flight PRT failures on MSL, including those on the Curiosity rover. Since MSL, the sensor has gone through a change in construction such that the manufacturer significantly restricts the minimum temperature. However, significant subsequent testing was performed with this new version of the part to show that it indeed is still robust to at least Mars minimum temperatures of -135 degrees Centigrade. The additional completed testing will be described. This work has resulted in a successful sensor package qualification and a reliable bonding method suitable for use over large temperature extremes
Non-destructive testing is essential in many fields of manufacturing and research in order to perform reliable examination of potentially damaged materials and parts without destroying the inherent structure of the materials. Thus, the Non-Destructive Evaluation (NDE) Team at NASA Glenn Research Center partakes in various projects to improve materials testing equipment as well as analyze materials, material defects, and material deficiencies. Due to the array of projects within the NDE Team at this time, five research aims were supplemental to some current projects. A literature survey of "DE and testing methodologies as related to rocks was performed. Also, Mars Expedition Rover technology was assessed to understand the requirements for instrumentation in harsh space environments (e.g. temperature). Potential instrumentation and technologies were also considered and documented. The literature survey provided background and potential sources for a proposal to acquire funding for ultrasonic instrumentation on board a future Mars expedition. The laboratory uses a Santec Systems AcousticScope AS200 acoustography system. Labview code was written within the current program in order to improve the current performance of the acoustography system. A sample of Reinforced Carbon/Carbon (RCC) material from the leading edge of the space shuttle underwent various non-destructive tests (guided wave scanning, thermography, computed tomography, real time x-ray, etc.) in order to characterize its structure and examine possible defects. Guided wave scan data of a ceramic matrix composite (CMC) panel was reanalyzed utilizing image correlations and signal processing variables. Additional guided wave scans and thermography were also performed on the CMC panel. These reevaluated data and images will be used in future presentations and publications. An additional axis for the guided wave scanner was designed, constructed, and implemented. This additional axis allowed incremental spacing of the previously fixed transducers for ultrasonic velocity measurements.
Year 2000 began with an intense period of self-examination for the Jet Propulsion Laboratory. Late in the previous year, two Mars-bound missions failed as they were arriving at the red planet, disappointing engineers, scientists and the public at large. After a probing series of internal and external reviews, a redesigned Mars program emerged that is intended to be more robust and more tightly coupled to the questions that scientists are attempting to answer. NASA expressed a significant vote of confidence in JPL by assigning an ambitious project to the Laboratory - to design, build and fly twin rovers to Mars in 2003. Among other missions and research programs, the news was more gratifying. Another Mars orbiter completed its first year of mapping operations, gathering more pictures than those collected over the entire missions of the two Viking orbiters. Stalwart spacecraft such as Galileo continued to deliver scientific discoveries, while a new generation of smaller solar system exploration missions got under way. In Earth sciences, a growing array of spaceborne instruments and satellites gave us new perspectives on the home planet, including an imaging radar mission on the Space Shuttle and two JPL instruments that began science operations after their launch on NASA's Terra orbiter in late 1999. In astronomy and physics, a JPL-built camera continued to perform flawlessly on NASA's Hubble Space Telescope, offering previously unglimpsed views of the deep universe.
A report describes the Laser Mapper (LAMP) -- a lightweight, compact, low-power lidar system under development for guidance of a spacecraft or exploratory robotic vehicle (rover) at Mars or another planet. The LAMP is intended especially for use during rendezvous of two spacecraft in orbit, for mapping terrain during descent and landing of a spacecraft, for capturing a sample that has been launched into orbit, or navigation and avoidance of obstacles by a rover traversing terrain. The LAMP includes a laser that emits high-power, short light pulses. The laser beam is aimed in azimuth and elevation by use of a mirror on a two-axis gimbal, which scans the beam across a field of regard. Light reflected by a target is collected by a telescope, and the distance to the target is determined by measuring the round-trip travel time for reflected light pulses. The distance information is combined with directional information to construct a three-dimensional map of targets in the field of regard.
Previous in-situ measurements of soil-like materials on the surface of Mars, in particular during the on-going Mars Exploration Rover missions, have shown complex relationships between composition, exposure to the surface environment, texture, and local rocks. In particular, a diversity in both compositional and physical properties could be established that is interpreted to be diagnostic of the complex geologic history of the martian surface layer. Physical and chemical properties vary laterally and vertically, providing insight into the composition of rocks from which soils derive, and environmental conditions that led to soil formation. They are central to understanding whether habitable environments existed on Mars in the distant past. An instrument the Mole for Soil Compositional Studies and Sampling (MOCSS) - is proposed to allow repeated access to subsurface regolith on Mars to depths of up to 1.5 meters for in-situ measurements of elemental composition and of physical and thermophysical properties, as well as for subsurface sample acquisition. MOCSS is based on the compact PLUTO (PLanetary Underground TOol) Mole system developed for the Beagle 2 lander and incorporates a small X-ray fluorescence spectrometer within the Mole which is a new development. Overall MOCSS mass is approximately 1.4 kilograms. Taken together, the MOCSS science data support to decipher the geologic history at the landing site as compositional and textural stratigraphy if they exist - can be detected at a number of places if the MOCSS were accommodated on a rover such as MSL. Based on uncovered stratigraphy, the regional sequence of depositional and erosional styles can be constrained which has an impact on understanding the ancient history of the Martian near-surface layer, considering estimates of Mars soil production rates of 0.5... 1.0 meters per billion years on the one hand and Mole subsurface access capability of approximately 1.5 meters. An overview of the MOCSS, XRS instrument accomodation and the impact that these instruments have on Mars science is discussed.
The Mars Exploration Rover Opportunity has recently completed a two year campaign studying Victoria Crater. The campaign culminated in a close approach of Cape Verde in order to acquire high resolution imagery of the exposed stratigraphy in the cliff face. The close approach to Cape Verde provided significant challenges for every subsystem of the rover as the rover needed to traverse difficult, uncharacterised terrain and approach a cliff face with the potential of blocking out solar energy and communications with Earth. In this paper we describe the strategic analyses performed by the science and engineering teams so that we could successfully achieve the science objectives while keeping the rover safe.
The Mars Helicopter Technology Demonstrator will be flying on the NASA Mars 2020 rover mission scheduled to launch in July of 2020. The goal is to demonstrate the viability and potential of heavier-than-air vehicles in the Martian atmosphere. Research is performed at the Jet Propulsion Laboratory and NASA Ames Research Center to extend these capabilities and develop the Mars Science Helicopter as the next possible step for Martian rotorcraft. The Mars Science Helicopter mass is scaled up to the 5 to 20 kg range, allowing a greater payload (approximately 0.5 to 2.0 kg), and greater range (approximately 3 km). Key to achieving these targets is careful aerodynamic rotor design. The Martian atmosphere’s low density and the small helicopter rotors result in very low chord-based Reynolds number flows, which reduces rotor performance. A continuous genetic algorithm is developed to optimize airfoil shapes at representative conditions for the Martian atmosphere. Previous research indicates that sharp leading edges and plate-like airfoils can out-perform conventional airfoil shapes. The present optimization allows for camber and thickness variation of curved and polygonal thin airfoils with sharp leading edges. The airfoil performance is evaluated at the highest attainable liftto- drag ratio near a moderate lift coefficient at compressible Mach numbers, as expected for Martian rotor application. Increases between 16% and 29% in airfoil lift-to-drag ratio at fixed lift coefficients are observed when compared with the Mars Helicopter Technology Demonstrator airfoils. Improvements in hover figure of merit are estimated to be between 4% and 10%, when applied to the Mars Helicopter Technology Demonstrator.
The detection of magmatically driven hydrothermal systems on Mars has met with limited success. Remote sensing efforts have detected limited exposures, though they are usually isolated occurrences, and do not necessarily represent an in-situ alteration sequence. Some of the best evidence for such a system comes from Mars Exploration Rover Spirit’s investigations of Gusev Crater. Diverse alteration minerals were investigated, including possible detections of amorphous silica and montmorillonite. The question remains whether remote sensing/spectroscopy alone is capable of detecting such an alteration front, or if more detailed in-situ analyses are required. In order to constrain this, we have used Mars relevant instrumentation to investigate a terrestrial analog on the Colorado Plateau where a mafic dike intrudes the Jurassic Curtis Sandstone.
NASA's demonstration of the successful transmission of relay data through the orbiting Mars Odyssey, Mars Global Surveyor, and Mars Express by the Mars Exploration Rovers has shown not only the benefit of using a relay satellite for multiple landed assets in a deep space environment but also the benefit of international standards for such architecture. As NASA begins the quest defined in the Vision for Exploration with robotic and manned missions to the Moon, continues its study of Mars, and is joined in these endeavors by countries world-wide, landed assets transmitting data through relay satellites will be crucial for completing mission objectives. However, this method of delivery of data will result in increased complexity in routing and prioritization of data transmission as the number of missions increases. Also, there is currently no standard method among organizations conducting such missions to return these data sets to Earth given a complex environment. One possibility for establishing such a standard is for mission designers to deploy protocols which fall under the umbrella of Delay Tolerant Networking (DTN). These developing standards include the Bundle Protocol (BP) which provides a standard, secure, store and forward mechanism designed for high latency and asymmetric communication links and the Licklider Transmission Protocol (LTP) which is used to provide a reliable deep space link transmission service.
The Mars Helicopter is part of the NASA Mars 2020 rover mission scheduled to launch in July of 2020. Its goal is to demonstrate the viability and potential of heavier-than-air vehicles in the Martian atmosphere. Ultimately, it aims to bridge the resolution gap between orbiters and the rover as well as allow access to otherwise inaccessible regions. The low density of the Martian atmosphere and the relatively small-scale rotor result in very low Reynolds number flows. The low density and low Reynolds numbers reduce the lifting force and lifting efficiency, respectively. This paper describes the generation of the improved Mars Helicopter aerodynamic rotor model. The goal is to generate a performance model for the Mars Helicopter rotor using a free wake analysis, since this has a low computational cost for design. The improvements in the analysis are two-fold and are expanded on from two prior publications. First, the fidelity of the simulations is increased by performing higher-order two-dimensional time-accurate OVERFLOW simulations allowing for higher accuracy aerodynamic coefficients and a better understanding of the boundary layer behavior as well as its transient features. Second, a version of the model is generated to duplicate the exact testing conditions in the 25-ft. diameter Space Simulator at the Jet Propulsion Laboratory, which allows for better correlation of rotor performance figures. Previous work correlated performance with that test, but did not consider the higher temperatures in the experiment compared to those of the Martian atmosphere. The higher temperatures in the experiment are expected to give conservative performance estimates, as they give rise to an increase in speed of sound and decrease in observed Reynolds numbers.
The Mars Helicopter is part of the NASA Mars 2020 rover mission scheduled to launch in July of 2020. Its goal is to demonstrate the viability and potential of heavier-than-air vehicles in the Martian atmosphere. Ultimately, it aims to bridge the resolution gap between orbiters and the rover as well as allow access to otherwise inaccessible regions. The low density of the Martian atmosphere and the relatively small-scale rotor result in very low Reynolds number flows. The low density and low Reynolds numbers reduce the lifting force and lifting efficiency, respectively. This paper describes the generation of the improved Mars Helicopter aerodynamic rotor model. The goal is to generate a performance model for the Mars Helicopter rotor using a free wake analysis, since this has a low computational cost for design. The improvements in the analysis are two-fold and are expanded on from two prior publications. First, the fidelity of the simulations is increased by performing higher-order two-dimensional time-accurate OVERFLOW simulations allowing for higher accuracy aerodynamic coefficients and a better understanding of the boundary layer behavior as well as its transient features. Second, a version of the model is generated to duplicate the exact testing conditions in the 25–ft. diameter Space Simulator at the Jet Propulsion Laboratory, which allows for better correlation of rotor performance figures. Previous work correlated performance with that test, but did not consider the higher temperatures in the experiment compared to those of the Martian atmosphere. The higher temperatures in the experiment are expected to give conservative performance estimates, as they give rise to an increase in speed of sound and decrease in observed Reynolds numbers.
The Mars Exploration Rover Spirit landed in Gusev crater on Jan. 4, 2004. Spirit has traversed the Gusev crater plains, ascended to the top of Husband Hill, and entered into the Inner Basin of the Columbia Hills. The Athena science payload onboard Spirit has recorded numerous measurements on the chemistry and mineralogy of materials encountered during nearly 2 Mars years of operation within the crater. Rocks and soils have been grouped into classes based upon their unique differences in mineralogy and chemistry [1-3]. Some of the most significant chemical discoveries include the composition of Adirondack class flood basalts [4-6]; high sulfur in Clovis and Peace Class rocks [7,2]; high P and Ti in Wishstone Class rocks [7,2]; composition of alkalic basalts [2,6]; very high S in Paso Robles class soils [7,2], and the possible occurrence of a smectite-like chemical composition in Independence class rocks [8]. Water has played a significant role in the alteration of rocks and soils in the Columbia Hills. The occurrence of goethite and ferric sulfate alone suggests that liquid water was involved in their formation [3]. The pervasively altered materials in Husband Hill outcrops and rocks may have formed by the aqueous alteration of basaltic rocks, volcaniclastic materials, and/or impact ejecta by solutions that were rich in acid-volatile elements [2]. The objective of this paper is to provide an update on the health of the Alpha Particle X-ray Spectrometer (APXS) and to expand the geochemical dataset from sol 470 to sol 1368. Specific objectives are to (1) update the rock and soil classifications, (2) characterize elemental relationships among the major rock and soil classes, and (3) evaluate the involvement of water in the formation or alteration of the materials in these classes.
NASA’s demonstration of the successful transmission of relay data through the orbiting Mars Odyssey, Mars Global Surveyor, and Mars Express by the Mars Exploration Rovers has shown not only the benefit of using a relay satellite for multiple landed assets in a deep space environment but also the benefit of international standards for such an architecture. As NASA begins the quest defined in the Vision for Exploration with robotic and manned missions to the Moon, continues its study of Mars, and is joined in these endeavors by countries world-wide, landed assets transmitting data through relay satellites will be crucial for completing mission objectives. However, this method of data delivery will result in increased complexity in routing and prioritization of data transmission as the number of missions increases. Also, there is currently no standard method among organizations conducting such missions to return these data sets to Earth given a complex environment. One possibility for establishing such a standard is for mission designers to deploy protocols which fall under the umbrella of Delay Tolerant Networking (DTN). These developing standards include the Bundle Protocol (BP) which provides a standard, secure, store and forward mechanism designed for high latency and asymmetric communication links and the Licklider Transmission Protocol (LTP) which is used to provide a reliable deep space link transmission service.