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NASA NTRS2011

Mars Exploration Rover Heat Shield Recontact Analysis

The twin Mars Exploration Rover missions landed successfully on Mars surface in January of 2004. Both missions used a parachute system to slow the rover s descent rate from supersonic to subsonic speeds. Shortly after parachute deployment, the heat shield, which protected the rover during the hypersonic entry phase of the mission, was jettisoned using push-off springs. Mission designers were concerned about the heat shield recontacting the lander after separation, so a separation analysis was conducted to quantify risks. This analysis was used to choose a proper heat shield ballast mass to ensure successful separation with low probability of recontact. This paper presents the details of such an analysis, its assumptions, and the results. During both landings, the radar was able to lock on to the heat shield, measuring its distance, as it descended away from the lander. This data is presented and is used to validate the heat shield separation/recontact analysis.

Raiszadeh, Behzad↗
NASA NTRS2011

Non-Contact Thermal Properties Measurement with Low-Power Laser and IR Camera System

As shown by the Phoenix Mars Lander's Thermal and Electrical Conductivity Probe (TECP), contact measurements of thermal conductivity and diffusivity (using a modified flux-plate or line-source heat-pulse method) are constrained by a number of factors. Robotic resources must be used to place the probe, making them unavailable for other operations for the duration of the measurement. The range of placement is also limited by mobility, particularly in the case of a lander. Placement is also subject to irregularities in contact quality, resulting in non-repeatable heat transfer to the material under test. Most important from a scientific perspective, the varieties of materials which can be measured are limited to unconsolidated or weakly-cohesive regolith materials, rocks, and ices being too hard for nominal insertion strengths. Accurately measuring thermal properties in the laboratory requires significant experimental finesse, involving sample preparation, controlled and repeatable procedures, and, practically, instrumentation much more voluminous than the sample being tested (heater plates, insulation, temperature sensors). Remote measurements (infrared images from orbiting spacecraft) can reveal composite properties like thermal inertia, but suffer both from a large footprint (low spatial resolution) and convolution of the thermal properties of a potentially layered medium. In situ measurement techniques (the Phoenix TECP is the only robotic measurement of thermal properties to date) suffer from problems of placement range, placement quality, occupation of robotic resources, and the ability to only measure materials of low mechanical strength. A spacecraft needs the ability to perform a non-contact thermal properties measurement in situ. Essential components include low power consumption, leveraging of existing or highly-developed flight technologies, and mechanical simplicity. This new in situ method, by virtue of its being non-contact, bypasses all of these problems. The use of photons to both excite and measure the thermal response of any surface material to a high resolution (estimated footprint = 10 square centimeters) is a generational leap in physical properties measurements. The proposed method consists of spot-heating the surface of a material with a low (less than 1 W) power laser. This produces a moderate (5-10 K) temperature increase in the material.

Hudson, Troy L.↗
NASA NTRS2011

Operational Concept Evaluation of Solid Oxide Fuel Cells for Space Vehicle Applications

With the end of the Space Shuttle Program, NASA is evaluating many different technologies to support future missions. Green propellants, like liquid methane and liquid oxygen, have potential advantages for some applications. A Lander propelled with LOX/methane engines is one such application. When the total vehicle design and infrastructure are considered, the advantages of the integration of propulsion, heat rejection, life support and power generation become attractive for further evaluation. Scavenged residual propellants from the propulsion tanks could be used to generate needed electric power, heat and water with a Solid Oxide Fuel Cell(SOFC). In-Situ Resource Utilization(ISRU) technologies may also generate quantities of green propellants to refill these tanks and/or supply these fuel cells. Technology demonstration projects such as the Morpheus Lander are currently underway to evaluate the practicality of such designs and operational concepts. Tethered tests are currently in progress on this vertical test bed to evaluate the propulsion and avionics systems. Evaluation of the SOFC seeks to determine the feasibility of using these green propellants to supply power and identify the limits to the integration of this technology into a space vehicle prototype.

Poast, Kenneth I.↗
NASA NTRS2011

Project Morpheus Main Engine Development and Preliminary Flight Testing

A LOX/Methane rocket engine was developed for a prototype terrestrial lander and then used to fly the lander at Johnson Space Center. The development path of this engine is outlined, including unique items such as variable acoustic damping and variable film cooling.

Morehead, Robert L.↗
NASA NTRS2007

Interfacing WIPL-D with Mechanical CAD Software

of almost any popular CAD format, e.g. IGES, Parasolid, DXF, ACIS etc. The solid models are processed (simplified) and meshed in GiD(R), and then converted into WIPL-D Pro input file by simple Fortran or Matlab code. This algorithm allows the user to control the mesh of imported geometry, and to assign electric p~perties to metalic and dielectric surfaces. Implementation of the algorithm is demonstrated by examples obtained from the NASA Discovery mission, Phoenix Lander 2008. Results for radiation pattern of Phoenix Lander UHF relay antenna with effect of Martian surface, both simulated in WIPL-D Pro and measured, are shown for comparison.

method of moments (MoM)↗
NASA NTRS2011

Advanced Stirling Duplex Materials Assessment for Potential Venus Mission Heater Head Application

This report will address materials selection for components in a proposed Venus lander system. The lander would use active refrigeration to allow Space Science instrumentation to survive the extreme environment that exists on the surface of Venus. The refrigeration system would be powered by a Stirling engine-based system and is termed the Advanced Stirling Duplex (ASD) concept. Stirling engine power conversion in its simplest definition converts heat from radioactive decay into electricity. Detailed design decisions will require iterations between component geometries, materials selection, system output, and tolerable risk. This study reviews potential component requirements against known materials performance. A lower risk, evolutionary advance in heater head materials could be offered by nickel-base superalloy single crystals, with expected capability of approximately 1100C. However, the high temperature requirements of the Venus mission may force the selection of ceramics or refractory metals, which are more developmental in nature and may not have a well-developed database or a mature supporting technology base such as fabrication and joining methods.

Ritzert, Frank↗
NASA NTRS2005

Lifting Mechanism for the Mars Explorer Rover

A report discusses the design of a rover lift mechanism (RLM) -- a major subsystem of each of the Mars Exploration Rover vehicles, which were landed on Mars in January 2004. The RLM had to satisfy requirements to (1) be foldable as part of an extremely dense packing arrangement and (2) be capable of unfolding itself in a complex, multistep process for disengaging the rover from its restraints in the lander, lifting the main body of the rover off its landing platform, and placing the rover wheels on the platform in preparation for driving the rover off the platform. There was also an overriding requirement to minimize the overall mass of the rover and lander. To satisfy the combination of these and other requirements, it was necessary to formulate an extremely complex design that integrated components and functions of the RLM with those of a rocker-bogie suspension system, the aspects of which have been described in several prior NASA Tech Briefs articles. In this design, suspension components also serve as parts of a 4- bar linkage in the RLM.

Melko, Joseph↗
NASA NTRS2011

Liquid Oxygen/Liquid Methane Propulsion and Cryogenic Advanced Development

Exploration Systems Architecture Study conducted by NASA in 2005 identified the liquid oxygen (LOx)/liquid methane (LCH4) propellant combination as a prime candidate for the Crew Exploration Vehicle Service Module propulsion and for later use for ascent stage propulsion of the lunar lander. Both the Crew Exploration Vehicle and Lunar Lander were part the Constellation architecture, which had the objective to provide global sustained lunar human exploration capability. From late 2005 through the end of 2010, NASA and industry matured advanced development designs for many components that could be employed in relatively high thrust, high delta velocity, pressure fed propulsion systems for these two applications. The major investments were in main engines, reaction control engines, and the devices needed for cryogenic fluid management such as screens, propellant management devices, thermodynamic vents, and mass gauges. Engine and thruster developments also included advanced high reliability low mass igniters. Extensive tests were successfully conducted for all of these elements. For the thrusters and engines, testing included sea level and altitude conditions. This advanced development provides a mature technology base for future liquid oxygen/liquid methane pressure fed space propulsion systems. This paper documents the design and test efforts along with resulting hardware and test results.

Klem, Mark D.↗
NASA NTRS2011

Optimal Terminal Descent Guidance Logic to Achieve a Soft Lunar Touchdown

Altair Lunar Lander is the linchpin in the Constellation Program for human return to the Moon. In the 2010design reference mission, Altair is to be delivered to low Earth orbit by the Ares V heavy lift launch vehicle, and after subsequent docking with Orion in LEO, the Altair/Orion stack is delivered through trans-lunar injection (TLI). The Altair/Orion stack separates from the Ares V Earth departure stage shortly after TLI and continues the flight to the Moon as a single stack. Fig. 1 depicts one version of the Altair lunar lander.

Landing↗
NASA NTRS2007

Predicting the Blast of Lunar Soil Under a Rocket's Exhaust Jet

The blast of lunar soil represents a problem for the future missions planned for the moon. When the lander approached the ground during the Apollo missions, huge showers of dust particles were sent in all directions at extremely high velocities - including upwards towards the landing spacecraft. This represents a clear danger to the lander because the loss of visibility and the damage that can be produced to the vehicle itself. If there had been equipment on the ground, these showers of particles would have created a sand blasting effect over the equipment, possibly damaging optics and contaminating the equipment and depending on the size and velocity of the particles maybe even more extensive damage as the particles penetrated the outer surface of the equipment. Since the there is no air on the moon to slow down the particles, they can travel large distances at high speeds, in fact in some instances they can reach near escape velocity and go into an orbit around the moon and come all the way back to almost the same point where they were at the beginning; meaning that some of the lunar dust that came up during landing will shower back over the site. Once on the surface, the extremely fine dust had a habit of getting itself everywhere. During the Apollo missions it not only covered the astronauts' suits, but managed to work its way inside, damaging airtight joints and scratching up glass visors. The dust found its way inside the spacecraft, contaminating the floor and electronic systems inside, clogging air filters in the process. This is due to the fact that the lunar soil is extremely cohesive. The Lunar soil causes all of the same problems as sand does on Earth but unlike sand particles on Earth, which have smooth spherical shapes, the dust on the Moon is more like small particles of glass with sharper edges since there is no erosion on the lunar surface. During the Apollo missions the dust problem did not cause a big problem due to the fact of the length of duration of the missions. But as NASA plans to have long term missions to the moon the dust problem becomes an issue, due to multiple landings and the equipment that will be accumulated on the site. In order to mitigate these problems it is needed first to understand the physics of the problem in order to find the most suitable solution to protect equipment and vehicles during the next lunar missions..

Diaz, Carlos J. Sanchez↗
NASA NTRS2011

MaROS: Web Visualization of Mars Orbiting and Landed Assets

Mars Relay operations currently involve several e-mails and phone calls between lander and orbiter teams in order to settle on an agreed time for performing a communication pass between the landed asset (i.e. rover or lander) and orbiter, then back to Earth. This new application aims to reduce this complexity by presenting a visualization of the overpass time ranges and elevation angle, as well as other information. The user is able to select a specific overflight opportunity to receive further information about that particular pass. This software presents a unified view of the potential communication passes available between orbiting and landed assets on Mars. Each asset is presented to the user in a graphical view showing overpass opportunities, elevation angle, requested and acknowledged communication windows, forward and back latencies, warnings, conflicts, relative planetary times, ACE Schedules, and DSN information. This software is unique in that it is the first of its kind to visually display the information regarding communication opportunities between landed and orbiting Mars assets. The software is written using ActionScript/FLEX, a Web language, meaning that this information may be accessed over the Internet from anywhere in the world.

Wallick, Michael N.↗
NASA NTRS2011

Minimum Landing Error Powered-Descent Guidance for Planetary Missions

An algorithm improves the accuracy with which a lander can be delivered to the surface of Mars. The main idea behind this innovation is the use of a lossless convexification, which converts an otherwise non-convex constraint related to thruster throttling to a convex constraint, enabling convex optimization to be used. The convexification leads directly to an algorithm that guarantees finding the global optimum of the original nonconvex optimization problem with a deterministic upper bound on the number of iterations required for convergence. In this innovation, previous work in powered-descent guidance using convex optimization is extended to handle the case where the lander must get as close as possible to the target given the available fuel, but is not required to arrive exactly at the target. The new algorithm calculates the minimum-fuel trajectory to the target, if one exists, and calculates the trajectory that minimizes the distance to the target if no solution to the target exists. This approach poses the problem as two Second-Order Cone Programs, which can be solved to global optimality with deterministic bounds on the number of iterations required.

Blackmore, Lars↗
NASA NTRS2011

An Evaluation of Ultra-High Pressure Regulator for Robotic Lunar Landing Spacecraft

The Robotic Lunar Lander Development (RLLD) Project Office at NASA Marshall Space Flight Center (MSFC) has studied several lunar surface science mission concepts. These missions focus on spacecraft carrying multiple science instruments and power systems that will allow extended operations on the lunar surface. Initial trade studies of launch vehicle options for these mission concepts indicate that the spacecraft design will be significantly mass-constrained. To minimize mass and facilitate efficient packaging, the notional propulsion system for these landers has a baseline of an ultra-high pressure (10,000 psig) helium pressurization system that has been used on Defense missiles. The qualified regulator is capable of short duration use; however, the hardware has not been previously tested at NASA spacecraft requirements with longer duration. Hence, technical risks exist in using this missile-based propulsion component for spacecraft applications. A 10,000-psig helium pressure regulator test activity is being carried out as part of risk reduction testing for MSFC RLLD project. The goal of the test activity is to assess the feasibility of commercial off-the-shelf ultra-high pressure regulator by testing with a representative flight mission profile. Slam-start, gas blowdown, water expulsion, lock-up, and leak tests are also performed on the regulator to assess performance under various operating conditions. The preliminary test results indicated that the regulator can regulate helium to a stable outlet pressure of 740 psig within the +/- 5% tolerance band and maintain a lock-up pressure less than +5% for all tests conducted. Numerous leak tests demonstrated leakage less than 10-3 standard cubic centimeters per second (SCCS) for internal seat leakage at lock-up and less than10-5 SCCS for external leakage through the regulator ambient reference cavity. The successful tests have shown the potential for 10,000 psig helium systems in NASA spacecraft and have reduced risk associated with hardware availability and hardware ability to meet RLL mission requirements.

Burnside, Christopher↗
NASA NTRS2012

Organic Combustion in the Presence of Ca-Carbonate and Mg-Perchlorate: A Possible Source for the Low Temperature CO2 Release Seen in Mars Phoenix Thermal and Evolved Gas Analyzer Data

Two of the most important discoveries of the Phoenix Lander were the detection of approx.0.6% perchlorate [1] and 3-5% carbonate [2] in landing site soils. The Thermal and Evolved Gas Analyzer (TEGA) instrument on the Phoenix lander could heat samples up to approx.1000 C and monitor evolved gases with a mass spectrometer. TEGA detected a low (approx.350 C) and high (approx.750 C) temperature CO2 release. The high temp release was attributed to the thermal decomposition of Ca-carbonate (calcite). The low temperature CO2 release could be due to desorption of CO2, decomposition of a different carbonate mineral, or the combustion of organic material. A new hypothesis has also been proposed that the low temperature CO2 release could be due to the early breakdown of calcite in the presence of the decomposition products of certain perchlorate salts [3]. We have investigated whether or not this new hypothesis is also compatible with organic combustion. Magnesium perchlorate is stable as Mg(ClO4)2-6H2O on the martian surface [4]. During thermal decomposition, this perchlorate salt releases H2O, Cl2, and O2 gases. The Cl2 can react with water to form HCl which then reacts with calcite, releasing CO2 below the standard thermal decomposition temperature of calcite. However, when using concentrations of perchlorate and calcite similar to what was detected by Phoenix, the ratio of high:low temperature CO2 evolved is much larger in the lab, indicating that although this process might contribute to the low temp CO2 release, it cannot account for all of it. While H2O and Cl2 cause calcite decomposition, the O2 evolved during perchlorate decomposition can lead to the combustion of any reduced carbon present in the sample [5]. We investigate the possible contribution of organic molecules to the low temperature CO2 release seen on Mars.

Archer, Douglas↗
NASA NTRS2011

Development of the Probing In-Situ with Neutron and Gamma Rays (PING) Instrument for Planetary Science Applications

The Probing In situ with Neutrons and Gamma rays (PING) instrument is a promising planetary science application of the active neutron-gamma ray technology that has been used successfully in oil field well logging and mineral exploration on Earth for decades. Similar techniques can be very powerful for non-invasive in situ measurements of the subsurface elemental composition on other planets. The objective of our active neutron-gamma ray technology program at NASA Goddard Space Flight Center (NASA/GSFC) is to bring instruments using this technology to the point where they can be flown on a variety of surface lander or rover missions to the Moon, Mars, Venus, asteroids, comets and the satellites of the outer planets. PING combines a 14 MeV deuterium-tritium pulsed neutron generator with a gamma ray spectrometer and two neutron detectors to produce a landed instrument that can determine the elemental composition of a planet down to 30 - 50 cm below the planet's surface. The penetrating nature of.5 - 10 MeV gamma rays and 14 MeV neutrons allows such sub-surface composition measurements to be made without the need to drill into or otherwise disturb the planetary surface, thus greatly simplifying the lander design. We are currently testing a PING prototype at a unique outdoor neutron instrumentation test facility at NASA/GSFC that provides two large (1.8 m x 1.8 m x.9 m) granite and basalt test formations placed outdoors in an empty field. Since an independent trace elemental analysis has been performed on both the Columbia River basalt and Concord Gray granite materials, these samples present two known standards with which to compare PING's experimentally measured elemental composition results. We will present experimental results from PING measurements of both the granite and basalt test formations and show how and why the optimum PING instrument operating parameters differ for studying the two materials.

Parsons, A.↗
NASA NTRS2012

Morpheus: Advancing Technologies for Human Exploration

NASA's Morpheus Project has developed and tested a prototype planetary lander capable of vertical takeoff and landing. Designed to serve as a vertical testbed (VTB) for advanced spacecraft technologies, the vehicle provides a platform for bringing technologies from the laboratory into an integrated flight system at relatively low cost. This allows individual technologies to mature into capabilities that can be incorporated into human exploration missions. The Morpheus vehicle is propelled by a LOX/Methane engine and sized to carry a payload of 1100 lb to the lunar surface. In addition to VTB vehicles, the Project s major elements include ground support systems and an operations facility. Initial testing will demonstrate technologies used to perform autonomous hazard avoidance and precision landing on a lunar or other planetary surface. The Morpheus vehicle successfully performed a set of integrated vehicle test flights including hot-fire and tethered hover tests, leading up to un-tethered free-flights. The initial phase of this development and testing campaign is being conducted on-site at the Johnson Space Center (JSC), with the first fully integrated vehicle firing its engine less than one year after project initiation. Designed, developed, manufactured and operated in-house by engineers at JSC, the Morpheus Project represents an unprecedented departure from recent NASA programs that traditionally require longer, more expensive development lifecycles and testing at remote, dedicated testing facilities. Morpheus testing includes three major types of integrated tests. A hot-fire (HF) is a static vehicle test of the LOX/Methane propulsion system. Tether tests (TT) have the vehicle suspended above the ground using a crane, which allows testing of the propulsion and integrated Guidance, Navigation, and Control (GN&C) in hovering flight without the risk of a vehicle departure or crash. Morpheus free-flights (FF) test the complete Morpheus system without the additional safeguards provided during tether. A variety of free-flight trajectories are planned to incrementally build up to a fully functional Morpheus lander capable of flying planetary landing trajectories. In FY12, these tests will culminate with autonomous flights simulating a 1 km lunar approach trajectory, hazard avoidance maneuvers and precision landing in a prepared hazard field at the Kennedy Space Center (KSC). This paper describes Morpheus integrated testing campaign, infrastructure, and facilities, and the payloads being incorporated on the vehicle. The Project s fast pace, rapid prototyping, frequent testing, and lessons learned depart from traditional engineering development at JSC. The Morpheus team employs lean, agile development with a guiding belief that technologies offer promise, but capabilities offer solutions, achievable without astronomical costs and timelines.

Olansen, Jon B.↗
NASA NTRS2012

Web-Based Customizable Viewer for Mars Network Overflight Opportunities

This software displays a full summary of information regarding the overflight opportunities between any set of lander and orbiter pairs that the user has access to view. The information display can be customized, allowing the user to choose which fields to view/hide and filter. The software works from a Web browser on any modern operating system. A full summary of information pertaining to an overflight is available, including the proposed, tentative, requested, planned, and implemented. This gives the user a chance to quickly check for inconsistencies and fix any problems. Overflights from multiple lander/ orbiter pairs can be compared instantly, and information can be filtered through the query and shown/hidden, giving the user a customizable view of the data. The information can be exported to a CSV (comma separated value) or XML (extensible markup language) file. The software only grants access to users who are authorized to view the information. This application is an addition to the MaROS Web suite. Prior to this addition, information pertaining to overflight opportunities would have a limited amount of data (displayed graphically) and could only be shown in strict temporal ordering. This new display shows more information, allows direct comparisons between overflights, and allows the data to be manipulated in ways that it was unable to be done in the past. The current software solution is to use CSV files to view the overflight opportunities.

Gladden, Roy E.↗
NASA NTRS2012

The Probing In-Situ With Neutron and Gamma Rays (PING) Instrument for Planetary Composition Measurements

The Probing In situ with Neutrons and Gamma rays (PING) instrument (formerly named PNG-GRAND) [I] experiment is an innovative application of the active neutron-gamma ray technology successfully used in oil field well logging and mineral exploration on Earth over many decades. The objective of our active neutron-gamma ray technology program at NASA Goddard Space Flight Center (NASA/GSFC) is to bring PING to the point where it can be flown on a variety of surface lander or rover missions to the Moon, Mars, Venus, asteroids, comets and the satellites of the outer planets and measure their bulk surface and subsurface elemental composition without the need to drill into the surface. Gamma-Ray Spectrometers (GRS) have been incorporated into numerous orbital planetary science missions. While orbital measurements can map a planet, they have low spatial and elemental sensitivity due to the low surface gamma ray emission rates reSUlting from using cosmic rays as an excitation source, PING overcomes this limitation in situ by incorporating a powerful neutron excitation source that permits significantly higher elemental sensitivity elemental composition measurements. PING combines a 14 MeV deuterium-tritium Pulsed Neutron Generator (PNG) with a gamma ray spectrometer and two neutron detectors to produce a landed instrument that can determine the elemental composition of a planet down to 30 - 50 cm below the planet's surface, The penetrating nature of .5 - 10 MeV gamma rays and 14 MeV neutrons allows such sub-surface composition measurements to be made without the need to drill into or otherwise disturb the planetary surface, thus greatly simplifying the lander design, We are cun'ently testing a PING prototype at a unique outdoor neutron instrumentation test facility at NASA/GSFC that provides two large (1.8 m x 1.8 m x ,9 m) granite and basalt test formations placed outdoors in an empty field, Since an independent trace elemental analysis has been performed on both these Columbia River basalt and Concord Gray granite materials, these large samples present two known standards with which to compare PING's experimentally measured elemental composition results, We will present both gamma ray and neutron experimental results from PING measurements of the granite and basalt test formations in various layering configurations and compare the results to the known composition.

Parsons, A.↗