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Overview of the Phoenix Entry, Descent and Landing System Architecture

NASA s Phoenix Mars Lander began its journey to Mars from Cape Canaveral, Florida in August 2007, but its journey to the launch pad began many years earlier in 1997 as NASA s Mars Surveyor Program 2001 Lander. In the intervening years, the entry, descent and landing (EDL) system architecture went through a series of changes, resulting in the system flown to the surface of Mars on May 25th, 2008. Some changes, such as entry velocity and landing site elevation, were the result of differences in mission design. Other changes, including the removal of hypersonic guidance, the reformulation of the parachute deployment algorithm, and the addition of the backshell avoidance maneuver, were driven by constant efforts to augment system robustness. An overview of the Phoenix EDL system architecture is presented along with rationales driving these architectural changes.

Grover, Myron R., III↗

Mars Science Laboratory Entry, Descent, and Landing System Overview

In 2010, the Mars Science Laboratory (MSL) mission will pioneer the next generation of robotic Entry, Descent, and Landing (EDL) systems by delivering the largest and most capable rover to date to the surface of Mars. In addition to landing more mass than prior missions to Mars, MSL will offer access to regions of Mars that have been previously unreachable. The MSL EDL sequence is a result of a more stringent requirement set than any of its predecessors. Notable among these requirements is landing a 900 kg rover in a landing ellipse much smaller than that of any previous Mars lander. In meeting these requirements, MSL is extending the limits of the EDL technologies qualified by the Mars Viking, Mars Pathfinder, and Mars Exploration Rover missions.

Mars↗

Reconstruction of the Mars Science Laboratory Parachute Performance and Comparison to the Descent Simulation

The Mars Science Laboratory used a single mortar-deployed disk-gap-band parachute of 21.35 m nominal diameter to assist in the landing of the Curiosity rover on the surface of Mars. The parachute system s performance on Mars has been reconstructed using data from the on-board inertial measurement unit, atmospheric models, and terrestrial measurements of the parachute system. In addition, the parachute performance results were compared against the end-to-end entry, descent, and landing (EDL) simulation created to design, develop, and operate the EDL system. Mortar performance was nominal. The time from mortar fire to suspension lines stretch (deployment) was 1.135 s, and the time from suspension lines stretch to first peak force (inflation) was 0.635 s. These times were slightly shorter than those used in the simulation. The reconstructed aerodynamic portion of the first peak force was 153.8 kN; the median value for this parameter from an 8,000-trial Monte Carlo simulation yielded a value of 175.4 kN - 14% higher than the reconstructed value. Aeroshell dynamics during the parachute phase of EDL were evaluated by examining the aeroshell rotation rate and rotational acceleration. The peak values of these parameters were 69.4 deg/s and 625 deg/sq s, respectively, which were well within the acceptable range. The EDL simulation was successful in predicting the aeroshell dynamics within reasonable bounds. The average total parachute force coefficient for Mach numbers below 0.6 was 0.624, which is close to the pre-flight model nominal drag coefficient of 0.615.

Cruz, Juan R.↗

Atmospheric Risk Assessment for the Mars Science Laboratory Entry, Descent, and Landing System

In 2012, the Mars Science Laboratory (MSL) mission will pioneer the next generation of robotic Entry, Descent, and Landing (EDL) systems, by delivering the largest and most capable rover to date to the surface of Mars. As with previous Mars landers, atmospheric conditions during entry, descent, and landing directly impact the performance of MSL's EDL system. While the vehicle's novel guided entry system allows it to "fly out" a range of atmospheric uncertainties, its trajectory through the atmosphere creates a variety of atmospheric sensitivities not present on previous Mars entry systems and landers. Given the mission's stringent landing capability requirements, understanding the atmosphere state and spacecraft sensitivities takes on heightened importance. MSL's guided entry trajectory differs significantly from recent Mars landers and includes events that generate different atmospheric sensitivities than past missions. The existence of these sensitivities and general advancement in the state of Mars atmospheric knowledge has led the MSL team to employ new atmosphere modeling techniques in addition to past practices. A joint EDL engineering and Mars atmosphere science and modeling team has been created to identify the key system sensitivities, gather available atmospheric data sets, develop relevant atmosphere models, and formulate methods to integrate atmosphere information into EDL performance assessments. The team consists of EDL engineers, project science staff, and Mars atmospheric scientists from a variety of institutions. This paper provides an overview of the system performance sensitivities that have driven the atmosphere modeling approach, discusses the atmosphere data sets and models employed by the team as a result of the identified sensitivities, and introduces the tools used to translate atmospheric knowledge into quantitative EDL performance assessments.

EDL↗

The Mars Pathfinder Mission

Mars Pathfinder, one of the Discovery class missions (quick. low-cost projects with focused science objectives), will land a single spacecraft with a microrover and several instruments on the surface of Mars in 1997. Pathfinder will be the first mission to use a rover, carrying a chemical analysis instrument, to characterize the rocks and soils in a landing area over hundreds of square meters on Mars, which will provide a calibration point or ground truth for orbital remote sensing observations.

Discovery↗

Mars Microprobe Project Instrumentation Package

The Mars Microprobe Project is a technology validation mission in NASA's New Millennium Program. The project is developing a pair of small, two-piece probes for delivery to the surface of Mars in December of 1999.

Mars↗

Coordinates of features on the Mariner 6 and 7 pictures of Mars.

A control net of Mars has been computed from measurements of 115 control points identified on the Mariner 6 and 7 pictures. Most of these points are located with respect to topographic features on the surface of Mars, and their areographic coordinates were computed by photogrammetric techniques. These pictures offered the first opportunity to establish a control net of Mars based on topographic detail.

Davies, M. E.↗

Frontal systems during passage of the Martian north polar hood over the Viking Lander 2 site prior to the first 1977 dust storm

Analysis of a 12-sol period of wind speed, wind direction, temperature, pressure, and optical depth at the Viking Lander 2 site presents the first in situ evidence of high- and low-pressure systems, complete with fronts, on the surface of Mars. The discovery of these systems in the Lander data occurred while analyzing a period during which the north polar hood was advected over the site at midday, dramatically decreasing the surface illumination and surface-to-atmospheric heat flux. This obscuration immediately preceded a global dust storm in the southern hemisphere and low latitudes of the northern hemisphere. The direct effects of the dust storm, reached 48 N, the Lander 2 latitude, later more gradually than they reached the 22 deg N latitude of Lander 1. The system responsible for the polar hood passages is a major disturbance, and it appears that radiational damping is inadequate to stop strong frontal formation. The front analyzed is characteristic of a repetitive series of systems that pass roughly every 3.3 sols. These systems are similar to those predicted by theoretical analyses and by general circulation modeling of the Martian atmosphere and those observed in laboratory experiments.

Tillman, J. E.↗

Radiation Transport Properties of Potential In Situ-Developed Regolith-Epoxy Materials for Martian Habitats

We will evaluate the radiation transport properties of epoxy-martian regolith composites. Such composites, which would use both in situ materials and chemicals fabricated from elements found in the martian atmosphere, are candidates for use in habitats on Mars. The principal objective is to evaluate the transmission properties of these materials with respect to the protons and heavy charged particles in the galactic cosmic rays which bombard the martian surface. The secondary objective is to evaluate fabrication methods which could lead to technologies for in situ fabrication. The composites will be prepared by NASA Langley Research Center using simulated martian regolith. Initial evaluation of the radiation shielding properties will be made using transport models developed at NASA-LaRC and the results of these calculations will be used to select the composites with the most favorable radiation transmission properties. These candidates will then be empirically evaluated at particle accelerators which produce beams of protons and heavy charged particles comparable in energy to the radiation at the surface of Mars.

Miller, J.↗

Automated Recognition of Geologically Significant Shapes in MER PANCAM and MI Images

Autonomous recognition of scientifically important information provides the capability of: 1) Prioritizing data return; 2) Intelligent data compression; 3) Reactive behavior onboard robotic vehicles. Such capabilities are desirable as mission scenarios include longer durations with decreasing interaction from mission control. To address such issues, we have implemented several computer algorithms, intended to autonomously recognize morphological shapes of scientific interest within a software architecture envisioned for future rover missions. Mars Exploration Rovers (MER) instrument payloads include a Panoramic Camera (PANCAM) and Microscopic Imager (MI). These provide a unique opportunity to evaluate our algorithms when applied to data obtained from the surface of Mars. Early in the mission we applied our algorithms to images available at the mission web site (http://marsrovers.jpl.nasa.gov/gallery/images.html), even though these are not at full resolution. Some algorithms would normally use ancillary information, e.g. camera pointing and position of the sun, but these data were not readily available. The initial results of applying our algorithms to the PANCAM and MI images are encouraging. The horizon is recognized in all images containing it; such information could be used to eliminate unwanted areas from the image prior to data transmission to Earth. Additionally, several rocks were identified that represent targets for the mini-thermal emission spectrometer. Our algorithms also recognize the layers, identified by mission scientists. Such information could be used to prioritize data return or in a decision-making process regarding future rover activities. The spherules seen in MI images were also autonomously recognized. Our results indicate that reliable recognition of scientifically relevant morphologies in images is feasible.

Morris, Robert↗

Mission and Navigation Design for the 2009 Mars Science Laboratory Mission

NASA s Mars Science Laboratory mission will launch the next mobile science laboratory to Mars in the fall of 2009 with arrival at Mars occurring in the summer of 2010. A heat shield, parachute, and rocket-powered descent stage, including a sky crane, will be used to land the rover safely on the surface of Mars. The direction of the atmospheric entry vehicle lift vector will be controlled by a hypersonic entry guidance algorithm to compensate for entry trajectory errors and counteract atmospheric and aerodynamic dispersions. The key challenges for mission design are (1) develop a launch/arrival strategy that provides communications coverage during the Entry, Descent, and Landing phase either from an X-band direct-to-Earth link or from a Ultra High Frequency link to the Mars Reconnaissance Orbiter for landing latitudes between 30 deg North and 30 deg South, while satisfying mission constraints on Earth departure energy and Mars atmospheric entry speed, and (2) generate Earth-departure targets for the Atlas V-541 launch vehicle for the specified launch/arrival strategy. The launch/arrival strategy employs a 30-day baseline launch period and a 27-day extended launch period with varying arrival dates at Mars. The key challenges for navigation design are (1) deliver the spacecraft to the atmospheric entry interface point (Mars radius of 3522.2 km) with an inertial entry flight path angle error of +/- 0.20 deg (3 sigma), (2) provide knowledge of the entry state vector accurate to +/- 2.8 km (3 sigma) in position and +/- 2.0 m/s (3 sigma) in velocity for initializing the entry guidance algorithm, and (3) ensure a 99% probability of successful delivery at Mars with respect to available cruise stage propellant. Orbit determination is accomplished via ground processing of multiple complimentary radiometric data types: Doppler, range, and Delta-Differential One-way Ranging (a Very Long Baseline Interferometry measurement). The navigation strategy makes use of up to five interplanetary trajectory correction maneuvers to achieve entry targeting requirements. The requirements for cruise propellant usage and atmospheric entry targeting and knowledge are met with ample margins.

Mission design↗

Mars Entry, Descent, Landing, and Ascent Systems Sensitivities to Landing Site and Atmospheric Dust

Plans for human missions to Mars continue to go through several architectural changes, dating all the way back to the 1950s [1]. The continuous study, reformulation, and refinement of Mars architectures and system concepts is necessary in order to incorporate evolving mission objectives, technology advancements, and growth in the body of knowledge regarding human factors and the various environments of human space travel. This evolution has continued into the 21st century, with architectures concepts such as NASA’s Design Reference Architecture 5.0 in 2009 [2], The Evolvable Mars Campaign in 2016 [3], and as recently as 2020, an architecture focused on a crewed mission as early as the 2030s that aims to minimizing crewed duration and infrastructure investment for the first mission [4]. Within these architectures, numerous studies around the current concept designs for Mars entry, descent, landing, and ascent (EDLA) systems have been performed over the last half a decade [[5], [6], [7], [8], [9], [10]]. Despite the breadth and depth of these studies, landing site, a key design parameter relevant to the design of EDLA systems, has remained nebulous over the years, largely due to the ever evolving mission objectives and architecture concept over the decades. However, the specific landing site has direct impact on the altitude and atmospheric conditions, which subsequently impact the design of EDLA systems. To accommodate the lack of a specific landing site, a baseline reference altitude of 0 km relative to the Mars Orbiter Laser Altimeter (MOLA), which is similar to an Earth sea level reference, has typically been selected and fixed for these past studies. Similarly, a baseline reference atmosphere has typically been utilized in these studies, either the Mars Global Reference Atmospheric Model [11], or a general 1982 standard warm, high pressure atmosphere model derived from Viking lander data [12]. Fig. 1 shows the range of elevations across the surface of Mars. Current architectures are focused on latitudes greater than 30 degrees north in an effort to ensure access to frozen water ice. From the figure, it is quickly evident that elevations over the range of longitudes at or above this latitude are significantly varied between roughly -4 to +4 km MOLA. Based on these observations, initial qualitative assessments of the impacts of landing site elevation on EDLA systems were performed. Fig. 2 depicts the expected trends in EDLA system mass for variations in both land site latitude and elevation. The background coloring is a qualitative evaluation of the current knowledge on ice water availability at the latitudes. Further modeling and simulation was performed to obtain numerical predictions of sensitivities to these parameters. Results indicate up to +2% to -4% mass variation from the current baseline Mars Ascent Vehicle concept, with the potential for greater than 6% mass variation at latitudes greater than 70 degrees north. However, variations in the descent system due to landing site were much more significant with mass variations in the range of -15% to +30% around the current baseline Mars Descent System concept. Additionally, Fig. 3 provides a depiction of potential Mars atmospheric density variations with both dust and Martian season. Though the Martian atmosphere is relatively thin compared to Earth’s atmosphere, it still poses significant impact on the design of EDLA systems. Variations in atmospheric density indicated by this slice of data would have significant impact on the design of EDLA systems. However, due to the highly complex nature of atmospheric flight, a qualitative assessment could not be performed. Rather, sensitivity results relied on modeling and simulation to provide numerical results for sensitivities on the current EDLA design concepts under consideration. Understanding these sensitivities is vital to the overall systems design of a Mars architecture. The resulting mass impacts on EDLA systems, driven by landing site elevation and dust level variations, has rippling impacts throughout the architecture that, ultimately, impact the viability of the architecture. Results showed fairly minor mass impacts to the current Mars Ascent Vehicle baseline configuration, roughly -0.6% to + 0.4% mass variations, while the Mars Descent System say greater variations due to dust, roughly -4% to +6% around the baseline concept.

EDLA↗

Teleoperation from Mars Orbit: A proposal for Human Exploration

For a human expedition to Mars, a case can be made that the best strategy for initial exploration is not to actually land the humans on Mars, but to put the humans into Mars orbit and operate on the surface by the technology of teleoperation. This will provide the results of human exploration, but at greatly reduced risk and cost. Teleoperation of Mars surface robots from a Mars-orbital habitat will operation near real time operation with minimum time delay, giving a virtual presence on the surface. By use of teleoperation, it is possible to vastly simplify the surface exploration mission. We now have no need to develop a human-rated Mars Lander and Mars Ascent Vehicle, and we can send geologists & biologists on the mission; not VTOL pilots. It is a cheaper, simpler, and safer way to explore, and hence it will be a faster way to explore. It has the excitement of being there, at a fraction of the price. Tele-exploration from Mars orbit also allows human (virtual) presence at a wide variety of locations. With an orbital base controlling surface telerobotics, human explorers are not stuck with one base location, but can explore all over Mars. They can explore the polar caps and also near-equatorial canyon regions, from the same orbiting base. This frees the mission from landing site constraints. With no need to select a "grab bag" site that contains a large number of geologically diverse features at or near a single location; it is now possible go to all the best sites-- paleolake sites, river beds, volcanic calderas, lava tube sites, layered terrain, canyons, possible shoreline features, the North and South poles. A near-polar inclination 24-hr 39-minute period Mars orbit, for example, will put the orbital station in line-of-sight of a given region for about 8 hours per day-- one teleoperation shift. Since present day life could exist on Mars, planetary protection is also needed to preserve the (possible) fragile Mars biosphere from competition from ferocious Earth life. Isolated biospheres on Earth have been devastated when they have been exposed to alien life forms introduced-accidentally or deliberately-- from another continent. If there is life on Mars, we will wish to protect it from having to compete with introduced Earth biota. Reverse planetary protection-protecting the Earth biosphere from exposure to Mars microorganisms-is also an important consideration. Exploring from orbit will reduce biological risk by keeping humans from exposure to possible Mars microbes. A telerobotic mission will need no quarantine on return to Earth, and avoids the difficult human question of how to isolate Mars mission astronauts infected by Martian microorganisms.

Landis, Geoffrey A.↗

The use of Antarctic analogs for the Space Exploration Initiative

Potential approaches to the use of the Antarctic as an analog to the lunar and Mars planetary surface segments of the SEI are reviewed. It is concluded that a well-planned and sustained program of ground-based research and testing in environments analogous to the moon and Mars is a rational method for reducing the risks associated with human space missions. Antarctica may provide an ideal setting for testing critical technologies (habitat design, life support, and advanced scientific instrumentation), studying human factors and physiology, and conducting basic scientific research similar to and directly relevant to that planned for the SEI.

Roberts, Barney↗

Classification of Martian deltas

Water-borne sediments in streams are deposited, upon eventual cessation of flow, either as deltas or as alluvial fans or plains. Deltas and alluvial fans share a common characteristic; both may be described as deposition Al plains at the mouth of a river or stream. A delta is formed where a stream or river deposits its sedimentary load into a standing body of water such as an ocean or lake. An alluvial fan is produced where a stream loses capacity by a greatly decreased gradient. A delta has subaerial and subaqueous components, but an alluvial fan is entirely subaerial. In terrestrial conditions, deltas and alluvial fans are reasonably distinct landforms. The juxtaposition of concomitant features composition and internal structure are sufficiently explicit as to avoid any confusion regarding their proper identification on Mars, the recognition of deltas and their distinction from alluvial fans is made difficult by low resolution imaging. Further, although it may be demonstrated that standing bodies of water existed on the surface of Mars, many of these bodies may have existed for extremely short periods of time (a few days to months); hence, distinctive shoreline features were not developed. Thus, in an attempt to derive a Martian classification of deltas, the inclusion of wholly subaerial deposits may be unavoidable. A simple, broad, morphological classification of Martian deltas, primarily on planimetric shape, includes digitate deltas, fan-shaped deltas, and re-entrant deltas. A fourth, somewhat problematical class includes featureless plains at the end of many valley systems.

Dehon, R. A.↗

Physical Alteration of Martian Dust Grains, Its Influence on Detection of Clays and Identification of Aqueous Processes on Mars

Clays, if present on Mars, have been illusive. Determining whether or not clay minerals and other aqueous alteration species are present on Mars provides key information about the extent and duration of aqueous processes on Mars. The purpose of this study is to characterize in detail changes in the mineral grains resulting from grinding and to assess the influence of physical processes on clay minerals on the surface of Mars. Physical alteration through grinding was shown to greatly affect the structure and a number of properties of antigorite and kaolinite. This project builds on an initial study and includes a combination of SEM, HRTEM, reflectance and M ssbauer spectroscopies. Grain size was found to decrease, as expected, with grinding. In addition, nanophase carbonate, Si-OH and iron oxide species were formed.

Janice L Bishop↗

Report of the Workshop for Life Detection in Samples from Mars

The question of whether there is or was life on Mars has been one of the most pivotal since Schiaparellis' telescopic observations of the red planet. With the advent of the space age, this question can be addressed directly by exploring the surface of Mars and by bringing samples to Earth for analysis. The latter, however, is not free of problems. Life can be found virtually everywhere on Earth. Hence the potential for contaminating the Mars samples and compromising their scientific integrity is not negligible. Conversely, if life is present in samples from Mars, this may represent a potential source of extraterrestrial biological contamination for Earth. A range of measures and policies, collectively termed 'planetary protection', are employed to minimise risks and thereby prevent undesirable consequences for the terrestrial biosphere. This report documents discussions and conclusions from a workshop held in 2012, which followed a public conference focused on current capabilities for performing life-detection studies on Mars samples. The workshop focused on the evaluation of Mars samples that would maximise scientific productivity and inform decision making in the context of planetary protection. Workshop participants developed a strong consensus that the same measurements could be employed to effectively inform both science and planetary protection, when applied in the context of two competing hypotheses: 1) that there is no detectable life in the samples; or 2) that there is martian life in the samples. Participants then outlined a sequence for sample processing and defined analytical methods that would test these hypotheses. They also identified critical developments to enable the analysis of samples from Mars.

Life Detection↗

Mid-Lift-to-Drag Ratio Rigid Vehicle Control System Design and Simulation for Human Mars Entry

The Mid-Lift-to-Drag Ratio Rigid Vehicle (MRV) is a proposed candidate in the NASA Evolvable Mars Campaign's (EMC) Pathfinder Entry, Descent, and Landing (EDL) architecture study. The purpose of the study is to design a mission and vehicle capable of transporting a 20mt payload to the surface of Mars. The MRV is unique in its rigid, asymmetrical lifting-body shape which enables a higher lift-to-drag ratio (L/D) than the typical robotic Mars entry capsule vehicles that carry much less mass. This paper presents the formulation and six-degree-of-freedom (6DOF) performance of the MRV's control system, which uses both aerosurfaces and a propulsive reaction control system (RCS) to affect longitudinal and lateral directional behavior.

mars↗